Analytical Mechanics (AM) : Classical Dynamics of Particles and Systems

Analytical Mechanics
( AM )
Lecture notes part 4, Action
Olaf Scholten
KVI, kamer v3.008
tel. nr. 363-3552
email: scholten@kvi.nl
Web page: http://www.kvi.nl/~scholten
Book
Classical Dynamics of Particles and Systems,
Stephen T. Thornton & Jerry B. Marion
5th Edition
ISBN-10: 0534408966 ISBN-13: 9780534408961
Intro
Introduce an abstract reference-frame independent formulation
of Mechanics via the Hamiltonian and Lagrangian formalisms.
This lends itself to generalizations to problems in Statistical
Mechanics, Quantum Mechanics, Relativistic Mechanics, Field
Theory, .....
December 12, 2012 Advanced Analytical Mechanics-2 - LeastAction.1 -
Hamiltons principle of least action
Simpler, more general, fully equivalent to Newtonian Dynamics
Action
S
1,2
=
_
t
2
t
1
L(x, x; t) dt
dened in terms of Lagrangian
L(x, x) = T( x) V (x)
with x(t) and velocity v =
d
dt
x = x
Principle of least action gives
S
1,2
= 0 =
_
t
2
t
1
_
L
x

d
dt
_
L
x
__
xdt
Euler-Lagrange equations,
d
dt
_
L
x
_
L
x
= 0
When T =
1
2
m x x and V (x) then E-L equations give
Newtons second law:
V
x
= F =
d
dt
[m x] = m x
Note:
d
dt
f(p, q, t) =
f
p
p +
f
q
q +
f
t
Generalized Coordinates
Lagrangian
L(q
1
, q
2
, , q
n
, q
1
, q
2
, , q
n
, t) = T V
S
1,2
=
_
t
2
t
1
L(q
1
, , q
n
, q
1
, , q
n
, t) dt
Euler-Lagrange equations
d
dt
_
L
q
i
_
L
q
i
= 0 , i = 1, 2, , n
[ problem 7.217]
Example
[example 7.11]
Particle, mass m, constrained to move on a cylinder,
x = Rcos , y = Rsin , z
with central force

F = kr r
U =
1
2
kr
2
=
1
2
k(x
2
+y
2
+z
2
) =
1
2
k(R
2
+z
2
)
Since x = R
sin ,
T =
1
2
mv
2
=
1
2
m( x
2
+ y
2
+ z
2
) =
1
2
m(R
2

2
+ z
2
)
L = T U =
1
2
m(R
2

2
+ z
2
)
1
2
k(R
2
+z
2
)
E-L eqn. for z gives
d
dt
m z +kz = 0
Solution: z(t) = Acos (t +), =
_
k/m
E-L eqn. for gives
d
dt
mR
2

= 0
Solution: (t) = at +b
Example
[ Example 7.4]
Particle, mass m, moving in verti-
cal cone, opening angle and thus
r = z tan
V = mgz and T =
1
2
mv
2
z
r
r
L = T V =
1
2
m( r
2
+r
2

2
+ z
2
) mgz
relation z and r gives r = z tan and thus
L =
1
2
m( z
2
tan
2
+z
2

2
tan
2
+ z
2
) mgz
EL equation in :
d
dt
L
= 0
mz
2

tan
2
= C
EL in z:
mz

2
tan
2
mg m z(1 + tan
2
) = 0
Example
[example 7.5]
Support of pendulum (length b,
mass m) xed on rim rotating disk
(radius a angular velocity ).
Coordinates mass m:
x = a cos t +b sin
y = a sin t b cos
gives
b
a
x
y
m
t
T =
1
2
m
_
a
2
2
+b
2

2
+ 2ab

(sin cos t cos sin t)
. .
sin (t)
_
U = mg(a sin t b cos )
L = T U and E.L.
L

d
dt
L
= 0 give
b
=
2
a cos ( t) g sin
Check solution numerically!
Go through all examples in the book !
Constraints & Lagrange multipliers
If motion is constraint by g(x
i
, t) = 0 we get
L
q
i
d
dt
L
q
i
+(t)
g
q
i
= 0 with g(q
i
; t) = 0
Since F
i
= m q
i
force exerted by the constraint is
Q
i
= (t)
g
q
i
If constraint
i
A
i
q
i
+B = 0
with A
i
=
g
q
i
; B =
g
t
then rewrite constraint
i
g
q
i
d
dt
q
i
+
g
t
= 0
or
d
dt
g = 0 giving
g(q
i
; t) C = 0
Note: repeated indices imply summation i.e.
L
q
i
q
i

n
i=1
L
q
i
q
i
End lecture Tuesday Dec 4, 2012
Example
Disk rolling down inclined plane not slipping, angle
T =
1
2
M y
2
+
1
2
(
1
2
MR
2
)
2
U = Mg(l y) sin
L = T U, constraint
g(y, ; t) = y R = 0
L
q
i
d
dt
L
q
i
+(t)
g
q
i
= 0
gives
Mg sin M y + = 0
1
2
MR
2
R = 0
constraint y = R gives
=
Mg
3
sin and y =
2
3
g sin
Without constraint result would be y = g sin
Force due to constraint F
c
=
g
q
i
Direct substitution of constraint would yield motion faster, how-
ever without force of constraint
check example 7.10
Conservation Laws
[ch. 7.9]
Denition of conjugated momentum
p
i
def
=
L
q
i
For L(x, x) =
1
2
m( x)
2
V (x) consistent with usual denition
momentum.
Conservation of total energy
L
t
= 0
If
L
t
= 0 then
d
dt
L =
L
q
i
q
i
+
L
q
i
q
i
EL
=
d
dt
_
q
i
L
q
i
_
giving
dE
dt
= 0 with
E = q
i
L
q
i
L = q
i
p
i
L = T +V
If L does not depend on time,
total energy is Constant Of Motion
Note: repeated indices imply summation i.e.
L
q
i
q
i

n
i=1
L
q
i
q
i
Conservation Laws, contd
Momentum:
Physics is invariant if r r +r for all particles thus
0 = L =
L
r
a
r
a
since x =
d
dt
x = 0 r
a
= r
E-L:
a
d
dt
L
r
a
= 0 thus
d
dt
N
a=1
p
a
= 0
If L does not depend on translation,
total momentum is Constant Of Motion
Angular momentum
Rotation
gives
r =
r &
r =
r
0 = L =
L
r
a
r
a
+
L
r
a
r
a
=
p
a
(
r) + p
a
(
r)
Thus
d
dt
M
N
a=1
= 0 ;

M = r p
If L does not depend on rotation,
total angular momentum is Constant Of Motion
Noether theorem:
Symmetry in problem conserved quantity
= constant of motion = integral of motion
Canonical equation of motion
Denition of conjugate momentum [chapter 7.10]
p
i
=
L
q
i
For L(x, x) =
1
2
m( x)
2
V (x) consistent with usual def.
Hamiltonian
H(q, p, t)
def
= p
i
q
i
L(q, q, t)
Hamilton Equations
q
i
=
H
p
i
p
i
=
H
q
i
L
t
=
H
t
=
dH
dt
The Hamilton equations, an alternative to Euler-Lagrange
End lecture Thursday 6 Dec 2012
Liouville theorem
System of N particles, (q
i
, p
i
), i = 1 N
Consider a statistical ensemble,
phase-space density dq
1
dp
1
dq
N
dp
N
What is density at time t + t ??
ow into hypercube side q

i
: I
q
i
= q
i
tp
i
ow into hypercube side p
i
: I
p
i
= p
i
tq
i
ow out from hypercube at side q
i
+ q
i
:
O
q
i
=
_
q
i
+ q
i
q
i
q
i
_
tp
i
Net increase density
I O =

t
q
i
p
i
t =
_
q
i
q
i
+
p
i
p
i
_
q
i
p
i
t
q
i
=
H
p
i
and thus
q
i
q
i
=

2
H
q
i
p
i
similarly
p
i
p
i
=

2
H
q
i
p
i
and thus
d
dt
=

t
+
_
q
i
q
i
+

p
i
p
i
_
= 0
Liouville theorem:
Phase-space density is conserved.
Spherical Pendulum
particle of mass m conned to move on sphere
radius l.
Calculate L
x = l sin cos ; y = l sin sin ; z = l cos
( = 0 is under)
x = l
_
cos cos

sin sin
[example 7.12]
b
m
g
U = 0
T =
1
2
m( x
2
+ y
2
+ z
2
) =
1
2
ml
2
_
2
+

2
sin
2
_
V = mgz = mgl cos
L =
1
2
ml
2
_
2
+

2
sin
2
_
+mgl cos
Constants Of Motion =?
L is independent of ; p
is thus COM
L is independent of t; total energy E is thus COM
Canonical momenta =?
p
=
L
= ml
2

=
L
= ml
2

sin
2
Hamiltonian =?
H = p

+p

L =
1
2
ml
2

2
+V
eff
(, p
)
with p
is COM and
V
eff
(, p
) =
p
2
2ml
2
sin
2
mgl cos
Spherical Pendulum, contd
Hamilton eqns. of motion
H(, p
, , p
) =
p
2
2ml
2
+
p
2
2ml
2
sin
2
mgl cos
=
H
p
= p
/(ml
2
sin
2
)
p
=
H
= 0
=
H
p
= p
/ml
2
p
=
H
=
p
2
cos
ml
2
sin
3
+mgl sin
Stability circular orbit (

= 0 )
for p
= C,
0 =
p
2
cos
0
ml
2
sin
3
0
+mgl sin
0
solve for
0
, thus

= 0 and p
= 0 thus circular orbit

p
2
cos
0
= m
2
gl
3
sin
4
0
Small perturbation, =
0
+(t), order terms:
ml
2
ml
2
sin
3
0
= p
2
cos +m
2
gl
3
sin
4
O()
=
p
2
(cos
0
sin
0
) + m
2
gl
3
(sin
4
0
+ 4sin
3
0
cos
0
) =
p
2
_
sin
0
+ 4 cos
2
0
/ sin
0
_
like x =
2
x with
2
> 0
Poisson Brackets
Poisson brackets [M: problem 7.30]
{F, G}
def
=
F
q
n
G
p
n
F
p
n
G
q
n
The time-derivative of the arbitrary function, F, can be written
dF
dt
=
F
q
n
q
n
+
F
p
n
p
n
+
F
t
=
F
q
n
H
p
n
F
p
n
H
q
n
+
F
t
= {F, H} +
F
t
The Hamiltonian generates time-translations. In particular,
q
n
= {q
n
, H}
p
n
= {p
n
, H}
The rst two of the Hamilton equations.
{q
k
, p
l
} =
kl
To quantum mechanics:
represent dynamical variables by linear operators on a Hilbert
space, and Poisson brackets by commutators (multiplied by
2/(ih)).
End lecture Tuesday 11 Dec 12

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ow into hypercube side q

= 0 thus circular orbit

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