Alfredo Hernndez Cavieres

Derivations Sheet 2

21st October 2016

Derivation 2.1
dT
= F~ ~v
dt
Proof.

(1)

If the mass is constant, it follows that

dT
d 1
=
m~v 2 = m~v ~v = m~a ~v = F~ ~v .
dt
dt 2


d(mT )
= F~ p~
dt
Proof.

(2)

If the mass varies with time, it follows that

d(mT )
d 1 2 2
d 1 2
=
m ~v
=
p~
= p~ p~ = F~ p~ .
dt
dt 2
dt 2


Alfredo Hernndez Cavieres

Derivations Sheet 2

21st October 2016

Derivation 2.2
M 2 R2 = M

mi ri2

Proof.
~ =
MR

1X
2
mi mj rij
2 i,j

(1)

We know that
X

mi~ri M 2 R2 =

X
i

 X

mi~ri

mj ~rj =

mi mj ~ri ~rj

i,j

Knowing that ~rij = ~ri ~rj , we can deduce the product ~ri ~rj :
~rij2 = (~ri ~rj )2 = ~ri2 + ~rj2 2~ri ~rj ~ri ~rj =

2
~ri2 + ~rj2 rij
2

Therefore,
M 2 R2 =

X
i,j

mi mj ~ri ~rj =



1X
2
mi mj ~ri2 + ~rj2 rij
2 i,j

X
1X
1X
1X
1X
2
2
mi ri2
mi mj ~ri2 +
mi mj ~rj2
mi mj rij
= M
mi mj rij
2 i,j
2 i,j
2 i,j
2
i
i,j

Alfredo Hernndez Cavieres

Derivations Sheet 2

21st October 2016

Derivation 2.3: Indetermination of the Lagrangian

L0 = L +

dF (q1 , . . . , qn , t)
dt

(1)

Proof.
d L0
dt qi


L0
d (L + F )

=
qi
dt
qi




(L + F )
d L 
L
d F

= 
+

qi
dt qi
qi dt qi

d F
Therefore, we only need to prove that
dt qi
d F
dt qi

d F
dt qi


F
t qi


dF
F
=
=
qi
qi dt
!
d F

=
dt qi


F
=0
qi

F
F
F
. Using
=
, we see that
qi
qi
qi

F
2F
2F
qi =
+
qi
qi qi
tqi
qi2


2F
F
2F
F q
F
i
qi =
+
qi +
+

qi t
qi
tqi
qi qi
qi2


L0
F
d L0

=0.
qi
dt qi
qi


Alfredo Hernndez Cavieres

21st October 2016

Derivations Sheet 2

Derivation 2.4: Invariance of the equations of motion

d L
dt qj

L
d L

=0
qj
dt s j

L
=0
sj

(1)

Proof.
d L
dt s j

L
d X L qi

=
sj
dt i qi s j

X L qi
i

d X L qi
=
qi sj
dt i qi sj

X L qi
i

qi sj


X qi d L  
L

=
0

sj 
dt qi
qi


Alfredo Hernndez Cavieres

Derivations Sheet 2

21st October 2016

Derivation 2.5
T
T
2
= Qj
qj
qj

Proof.

First of all, well find the expression for

(1)

T
:
qj

T
T
T
+
q +
q
t
q
q


T
T
T
2T
2T
T q
2T
T q

+
q +
q =
+
q +
+
q +


qj t
q
q
qt

qq

q q q
q
q
q
2T
2T
T
2T
=
+
q +
+
q.
qt

qq

q
q
q

dT
T =
=
dt
T
=

qj

Therefore,
2T
2T
T
T
T
2T
T
=
+
2
qj +
+
qj 2
qj
qj
qj t qj qj
qj
qj qj
qj
T
=
t qj

+
qj

qj +
qj
qj

T
T
d T
qj
=
qj
qj
dt qj

T
Qj
qj