Clasicul echcimid

Wipsment I

i di on a elipsoid under
Apen ticel
+the inguente of aavit
A it i non holonemit becau^e t t t
ontice aler reachi ng o terta
pont
uwi ll
Neoye He ell phoi d.
in lined plome
The body move on au

tle inlined
iLounues to mev on

t hotono-
plan ufare. ttrer or
mic.
oll g own a ouh inclined
AA pher holonomic
plane whout dipping y uon

Smce it wil betom -ayo

2rea D'Aumberd riniple

722 be tthe poit^ vfons

elative to B
o &m
0
(mg-m,T) S7t(ng -m,,).87,
 m.gSin m,a,) 8r,t (m,9: maY)S7,20

mSin0 &7, (mt m) o d

libiu
Since tC *dem i i n equlibiu

wa
(masinD mg) &r, o

mSinD - mA
msinb m
m) m,SindD

3 we know

-m Sx 4 (7 mz)Sz -

sh ev x tCe cppued fov es

i Z diiection a n d S & S z the
(Ornor dv vintual displace met
The onl p ed tCae

m -m
d
-m x m t ) 6z
Theq" cougbaind aive

(atz /z

A A cco dng to the ndple af vstuod

hene, i-,2
msin , S7 + m2 Sin0, STa z0
But &7 R de &7 R d8,
MSin9, 89, 4 M, SinD2 88, *0

B 8,t D2- Cofandt

S 9 , t &8, - d

(n, Sind, - m,Sind) SD, -

0

Sia ae f e m is in equilibi um
 0
-

m2 Su O,
m Sin ,

Sin8
Sin,
L : i i - J-3)

Cougesvaive tem, l«grarar>

ce Aivem
e

dt

s*-tG*iy*o

N
whtne j ,2,3.... na
eneraliged coor dinate,

C1-) + o
6 The cnve tin poreA meie om
S) ,z 7 (S)

d dt
dt
d do d
d dt

d dy dt
dt

kEt T m (+z2)2

D.E

is ayumed to be
whee -ams
Cre sun @ait
veati ca upwan d oomn

LT-V m l tz*) 4 - mg z
2

Lograa e i
L
we hav e Cgacung' e

- ) o

m ( + ) -mgz

dm (+Z)%)- ms (iA ~)t+mgzeo

dt

T (m) (i2inê?
V 2 k
L T-V-m
2
(i +76*)-4 k12

& L
L

dt

at
m ) o
 t apot.c
hal
and metie i
Cee hié
plar
(pPpic:)

l-T-Vy
( p p ¢ ) -Yt e)
v(P) eé nha
we
eld
mpe -2y
P
ad , mp

n p +D
mp

dt
(mp
 P
(mp2
dt

Po +2 P0 0
9 Since the may e paahc&a
moving plame wmde ta
aha ehve e
F

Ccus 7 Sin
Ccu - 9sinO

inekie neg opotide

T Ta % m (t* )
m
PE V
2

-T-V m (+)+ u
2
w laganges C" of metion

dt

Nad

mro

)
dt

6 t2