1

PHYS 705: Classical Mechanics

Examples: Lagrange Equations
and Constraints

Hoop Rolling Down an Incline Plane

R

Note: an object rolls because of friction but static

friction does no work

this is different from our previous case with a

disk rolling on a 2D plane. This has 1 less dof

Pick the coordinates x, as shown. The constraint eq (rolling without

slipping) is: x R 0

We will solve this problem in two ways:

#1: The problem really has one proper generalized coordinate x and we will
explicitly use the constraint equation to eliminate from our analysis. The EOM
is simpler (1D) but we cant get an expression for the constraint force.

Hoop Rolling Down an Incline Plane

R

1 2 1 2
mx I
I (hoop ) mR 2
2
2
1
1
T mx 2 mR 2 2
R x (constraint)
2
2
T mx 2
T

Now, pick U=0 to be at where the hoop is at the bottom of the incline plane ,
we then have,
So,

U mg (l x) sin

L mx 2 mg (l x) sin

Lagrange Equation gives,

2mx mg sin 0
x

g sin
2

(Correct acceleration for a

hoop rolling down an
incline plane)

Hoop Rolling Down an Incline Plane

y

In this case, we need to go back to Newtonian mechanics to

mg sin x
Fc

get the constraint force:

x

The constraint force is the static friction Fc needed

to keep the hoop rolling without slipping.

Newton 2nd law gives, mg sin Fc mx

Fc mg sin mx

Plug in our result for x and we get,

mg sin mg sin

Fc mg sin
2
2

Fc

mg sin
x
2

Hoop Rolling Down an Incline Plane

R

#2: Now without explicitly eliminating one of

the coordinates using the constraint equation,

we will use Lagrange Equation with Lagrange

multipliers to get both the EOM and the

magnitude of the constraint force.

Using both coordinates : x and

We have only one holonomic constraint g x, x R 0 and
we will have one Lagrange multiplier .
The relevant terms to be included in the Lagrange equation are:

(for x eq)
x

and

g
R (for eq)

Hoop Rolling Down an Incline Plane

1 2 1
mx mR 2 2
2
2
U mg (l x) sin
T

1 2 1
mx mR 2 2 mg (l x) sin
2
2

The EOM are:

d L L
g

dt x x
x
mx mg sin (1)

d L L
g

0

dt

mR 2 R
mR (2)

We have three unknowns: x, , and to be solved here.

Together with the constraint equation

x R 0 (3) these system of

equations can be solved. (Note: Constraint Eq is applied after EOM is obtained! )

Hoop Rolling Down an Incline Plane

Combining Eqs (1) and (2) by eliminating , we have,

mx mg sin mR
Now, from Eq (3), we have
x R
Substituting this into the equation above, we have,

mx mg sin mx

g sin
2

(same EOM for x as previously)

Now, we can substitute this back into Eq (1) to solve for ,

mx mg sin

mg sin
mg sin
mg sin
2
2

Hoop Rolling Down an Incline Plane

The magnitude of the force of constraint corresponding to the x-EOM
is given by:

g mg sin

2
x

By the way, we can also get the EOM for the variable,

mg sin
mR
2
g sin

2R

Notice that there is another force of constraint (the normal force :FN mg cos ).
We could get that out by introducing another improper coordinate y that permits
motion normal to the incline plane and imposing the constraint y=0.

Mass Rolling off from a Hemispheric Surface

Problem: A mass sits on top of a smooth fixed

hemisphere with radius a. Find the force of

r

U 0

constraint and the angle at which it flies off the

sphere.

Use coordinates: r and and constraint: g (r , ) r a 0

1 2 m 2 2 2
T mv
r r
2
2

note: v rr r

g
0

U mgr cos
L T U

m 2 2 2
r r mgr cos
2

10
L

m 2 2 2
r r mgr cos
2

Mass Rolling off from a Hemispheric Surface

r

d L L
g

0

dt r r
r
d
mr mr2 mg cos 0
dt
mr mr 2 mg cos (1)

d L L
g

dt

d
mr 2 mgr sin 0
dt
mr 2 2mrr mgr sin 0
r 2r g sin 0 (2)

r 0 , we have
Inserting constraint: r a and r
ma 2 mg cos (1')

a g sin 0

g
sin
a

(2 ')

NOTE: To fine force of constraint, insert constraint conditions AFTER you have
gotten the E-L equation (with the multiplier) already.

11

Mass Rolling off from a Hemispheric Surface

Note that

d 2

2
dt

Substituting from Eq (2) into the above equation, we have,

2 g d cos
d ( 2 )
g
2g
2 sin
sin
dt
a
dt
a
a
2g
2

d ( )
d cos
a
Integrating both sides, we arrive at the EOM for ,

2g
cos C
a
2g
2
1 cos
a

C is an integration constant. Assuming

initial condition with(0) (0) 0 , we
have C 2 g a

12

Mass Rolling off from a Hemispheric Surface

ma 2 mg cos (1')

Plugging the last expression into Eq (1), we have

2g

m a
1 cos mg cos
a

2mg 2mg cos mg cos

mg (3cos 2)

(This gives the mag of the constraint force.)

The particle flies off when the constraint force = 0. By setting =0, we have
the condition,

mg (3cos c 2) 0

c cos 1 2 3 48.2