PHYS20401

Lagrangian Dynamics

Terry Wyatt

Summary of Lagrangian Methods (Lectures 18) 1 Introduction

We have considered a system whose state as a function of time, t, is completely specied by i the generalized coordinates, qi (t) and generalized velocities, q i (t) = dq . dt The Lagrangian, L, of the system is dened as L (qi (t), q i (t), t) = T (qi (t), q i (t), t) V (qi (t), q i (t), t) , where, T is the kinetic energy of the system and V the potential energy. In principle, L, T , and V may all be functions of the generalized coordinates and velocities, and may have an explicit time dependence. The Action, S , is dened as S =
qi (t1 ), t1 qi (t0 ), t0

L (qi (t), q i (t), t) dt.

The Principle of Least Action states that the actual physical behaviour of the system (as given by the qi (t)) is such that S is minimized. From the principle of least action we have used the calculus of variations to derive Lagranges Equations L d L = 0. dt q i qi The generalized momenta, pi (t), are given by pi = L . q i

Physical Interpretations

When qi is a linear coordinate the corresponding (or conjugate) pi is a linear momentum. When qi is an angular coordinate the corresponding pi is an angular momentum. Thus Lagranges equations can be seen for simple systems to be equivalent to Newtons 2nd =J ) forms. Here m is a mass, F is a force, law in its linear (F = m x =p ) or angular (G = I G is a torque, and I is a moment of inertia.
L When the Lagrangian has no explicit dependence on a particular qi i.e., = 0 the correqi sponding pi is a constant of the motion (c.f., Newtons 1st law, conservation of linear momentum, conservation of angular momentum).

The Lagrangian for a Single Particle in a Time-Independent Potential in Various 3-Dimensional Coordinate Systems
1 L= m x 2 + y 2 + z 2 V ( x, y, z) 2 1 2 + r2 sin2 2 V (r, , ) L= m r 2 + r2 2

Cartesian:

Spherical Polar:

Cylindrical: 1 2 + z L= m 2 + 2 2 V (, , z) 2

Other Applications of the Calculus of Variations

Many interesting minimization problems can be expressed in the general integral form K = f y( x), y ( x), x dx = 0, where y = dy . dx

Here K can be almost anything: e.g., a time, a distance, an area, a volume, an action, etc., that has to be evaluated subject to certain specied constraints. The functional form of y( x) may be a priori unknown, but may be found using the Euler-Lagrange equation f d f = 0. dx y y In the case that f has no explicit dependence on x i.e., Euler-Lagrange equation may sometimes be useful d f f y = 0. dx y
f x

= 0 an alternative form of the