Classical Mechanics - Module 6

1. Consider a diatomic molecule which has a symmetry axis along the line through the center of
the two atoms comprising the molecule. Consider that this molecule is rotating about an axis
perpendicular to the symmetry axis and that there are no external forces acting on the molecule.
Use Noethers Theorem to answer the following questions:
a) Is the total angular momentum conserved?
b) Is the projection of the total angular momentum along a space-xed z axis conserved?
c) Is the projection of the angular momentum along the symmetry axis of the rotating molecule
conserved?
d) Is the projection of the angular momentum perpendicular to the rotating symmetry axis
conserved?
2. A bead of mass m slides under gravity along a smooth wire bent in the shape of a parabola
x
2
= az in the vertical (x, z) plane.
(a) What kind (holonomic, nonholonomic, scleronomic, rheonomic) of constraint acts on m?
(b) Set up Lagranges equation of motion for x with the constraint embedded.
(c) Set up Lagranges equations of motion for both x and z with the constraint adjoined and
a Lagrangian multiplier introduced.
(d) Show that the same equation of motion for x results from either of the methods used in
part (b) or part (c).
(e) Express in terms of x and x.
(f) What are the x and z components of the force of constraint in terms of x and x?
3. A block of mass m rests on an inclined plane making an angle with the horizontal. The inclined
plane (a triangular block of mass M) is free to slide horizontally without friction. The block of
mass m is also free to slide on the larger block of mass M without friction.
(a) Construct the Lagrangian function.
(b) Derive the equations of motion for this system.
(c) Calculate the canonical momenta.
(d) Construct the Hamiltonian function.
(e) Find which of the two momenta found in part (c) is a constant of motion and discuss why
it is so. If the two blocks start from rest, what is the value of this constant of motion?
4. Discuss among yourselves the following four conditions that can exist for the Hamiltonian and
give several examples of systems exhibiting each of the four conditions.
a) The Hamiltonian is conserved and equals the total mechanical energy
b) The Hamiltonian is conserved but does not equal the total mechanical energy
c) The hamiltonioan is not conserved but does equal the total mechanical energy
d) The Hamiltonian is not conserved and does not equal themechanical total energy
1
Classical Nechanics - Nouule 6
Talking Points anu Solutions

}on Spaluing
0ctobei 9, 2uu9

1. The axes can be illustiateu as such, with the oiigin at the centei of mass
position (the centei of iotation). Foi this pioblem we neeu to know Noethei's
theoiem: If the Lagiangian is inuepenuent of a paiticulai geneializeu
cooiuinate qi then the geneializeu momentum, pi is going to be constant,
wheie pi =
!
"L
" q
i
.

a. Intuitively, the angulai momentum is conseiveu; howevei we can finu
this analytically by noting that the Lagiangian is inuepenuent of the
iotational position of the molecule.
b. The piojection of the total angulai momentum along any axis will be
conseiveu.
c. The piojection of the angulai momentum along the axis of symmetiy
is conseiveu.
u. The piojection of angulai momentum along the x-axis is u anu is
conseiveu.
2. What we have heie is a 2 uimensional pioblem that can be ieuuceu to one
uimension by the constiaint equation pioviueu, ie.
!
g(x, z) = x
2
" az = 0.

a. This constiaint is Bolonomic in the sense that it constiains one
vaiiable in teims of anothei vaiiable. It is also Scleionomic, which
means the constiaint is inuepenuent of time (a thiiu vaiiable, implicit
to the pioblem uesciiption).
b. By embeuuing the constiaint, we aie to uiiectly eliminate one vaiiable
in the Lagiangian in teims of the othei vaiiable by substituting the
constiaint equation:
!
z =
x
2
a
; z =
dz
dt
=
2x x
a
; the two-vaiiable lagiangian
is

!
!(x, z) =
1
2
m( x
2
+ z
2
) " mgz anu the Lagiangian in x is

!
!(x) =
1
2
m( x
2
+
2
a
x x
2
) "
mg
a
x
2
which then leaus to the equation of
motion

!
"!
"x
#
"
"t
"!
" x
= #
2mg
a
x # m x = 0 which says that
!
x = "
2g
a
x , which
is once again the equation foi the haimonic oscillatoi. We can
inteipiet this to mean that the paiticle will oscillate in the x uiiection
accoiuing to cos(wt).
c. This time we won't uiiectly substitute the constiaint equation into the
Lagiangian, but insteau use a Lagiange multipliei. Foi any system
with moie than one geneializeu cooiuinate anu constiaints ielating
the cooiuinates, we can use this methou to get the equations of
motion anu equations of constiaint. In this paiticulai case, we have 2
cooiuinates, 1 constiaint; this leaus to a pioblem of solving S
equations foi S unknowns. The thiee equations aie:
i.

!
"!
"x
#
"
"t
"!
" x
+
"g(x, z)
"x
$(t) = 0 =>
!
0 " m x + 2x#(t) = 0
ii.

!
"!
"z
#
"
"t
"!
" z
+
"g(x, z)
"z
$(t) = 0 =>
!
"mg " m z " a#(t) = 0
iii.
!
g(x, z) = x
2
" az = 0
u. Note that
!
z = g; theiefoie ! is simply -2g, anu equation i. iesults in oui
pievious iesult foi haimonic motion in x.
e. Solving i. anu ii. foi ! (without substituting
!
z = g), we get
!
" = #
2g
a
x # x #
4x
a
2
(x x + x
2
) =
4x
a
2
(x x + x
2
) . The fiist two teims sum to
u as they iepiesent the equation of motion in x.
f. Fiom pg. 278 of Tayloi's Nechanics,
!
F
x
= "
#g
#x
=
8x
2
a
2
(x x + x
2
) anu
!
F
z
= "
#g
#z
=
4x
a
(x x + x
2
) .
S. The physical situation can be uiawn anu labeleu with geneializeu
cooiuinates as follows. In sketching the situation we can immeuiately
uesignate two sets of cooiuinates that will allow us to easily solve the
pioblem.

a. In wiiting the Lagiangian, we want to ieplace all ielations foi mass m
that aie a function of z into teims of x' anu theta. I wiite sepaiate
equations foi each mass kinetic anu potential eneigy to ieuuce the
equation sizes befoie putting it all togethei.
i.

!
L = T "U
T
M
=
1
2
M x
2
;U
M
= 0
T
m
=
1
2
m(
!
v
!
v )
!
v = x
!
x + z
!
z = x ' cos#

x + x

x " x ' sin#

z
T
m
=
1
2
m[( x ' )
2
+ 2 x x ' cos#]
U
m
= mgz = mg(z
o
" x' sin#)

ii.
!
L =
1
2
M x
2
+
1
2
m[( x ' )
2
+ 2 x x ' cos"] # mg(z
o
# x' sin")
b.
i. Foi geneializeu cooiuinate x, the equation is
!
"L
"x
#
d
dt
"L
" x
= M x + m x ' cos$ = 0
ii. Foi geneializeu cooiuinate x', the equation is
!
"L
"x'
#
d
dt
"L
" x '
= mgsin$ # m x ' #m x cos$ = 0
c. The canonical momentum foi a geneializeu cooiuinate q is
!
"L
" q
i
. So:
!
p
x
= M x + m x ' cos"
p
x'
= m x ' +m x cos"

u. Since the blocks aie fiictionless, anu the Lagiangian is time-
inuepenuent, the Bamiltonian is simply
!
H " p
i
q
i
# L
$
= p
x
x + p
x'
x ' #L(x, x', x , x ' ) = T +U = L + 2U
H =
1
2
M x
2
+
1
2
m x '
2
+m x x ' cos% + mg(z
o
# x' sin%)

e. A constant of the motion is simply something which is not time-
vaiying. Accoiuing to Noethei's theoiem, if a momentum is constant,
then the associateu geneializeu cooiuinate must not be piesent in the
Lagiangian. Since x, the position of the laigei block, is not piesent in
the Lagiangian, then the geneializeu momentum px is a constant of the
motion. If the two blocks stait fiom iest, then this momentum is u.
This is appaiently the total momentum in x of the system; if you look
at the fiist equation in pait c, you have conseivation of momentum in
the x-uiiection foi the system of blocks.
4. I will just pioviue the geneializeu cases heie iathei than explicit examples.
a. The Bamiltonian is conseiveu if the Lagiangian is not a function of
time, which then inuicates that the potential eneigy is not a function
of time. I.e. all foices imposeu on the system fiom the outsiue aie
static. The Bamiltonian is the total mechanical eneigy if all the
uegiees of fieeuom of the system aie containeu.
b. Again the Bamiltonian is conseiveu if the potential eneigy is not time
uepenuent; it won't be the total mechanical eneigy if it is evaluateu
locally, i.e. without iespect to system velocity ielative to an exteinal
obseivei.
c. The Bamiltonian won't be conseiveu if theie is a time-uepenuent
potential anuoi uissipation in the system (fiiction). Also the
cooiuinates aie "natuial" anu incluue all uegiees of fieeuom.
u. Theie is fiiction anu othei non-conseivative foicespotentials, in
auuition, B uoes not incluue all uegiees of fieeuom.