Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology

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(Volume 6, Issue 5)
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Modeling the equation of motion for a bowler in cricket

Aditya Amit Dhodapkar
dhodapkar.aditya@gmail.com
Oakridge International School, Hyderabad, Telangana

ABSTRACT
To model the equation of motion of the hand of a bowler for a typical bowling action in the game of cricket. Using the equation
of motion to predict the velocity with which the ball will be released by the bowler for different boundary conditions and given
constraints on the motion of the bowler's arm.

Keywords⸻ Langrangian Mechanics, Calculus, Calculus of Variations, The Principle of Least Action, Euler-Lagrange Equation,
Double Pendulum, Equations of Motion, Physics, Math, Bowlers, Cricket
1. AIM
To find the equation of motion of the hand of a bowler for a typical bowling action in the game of cricket. Using the equation of
motion predict the velocity with which the ball will be released by the bowler for different boundary conditions and given constraints
on the motion of baller arm.

2. BACKGROUND
The calculus of variations was said to have begun with a problem of Johann Bernoulli in 1696. It instantly gathered the attention of
Jakob Bernoulli; however, Leonhard Euler first elaborated and expanded the subject further deriving the Euler Lagrange equation
which is the primary equation that we will be dealing with in this paper. In ordinary calculus, we often work with real functions,
which are rules for mapping real numbers to real numbers. For example, the function sin x maps the whole of the real line to the
interval [−1, 1]. Functions can have various properties: for instance, they can be continuous and differentiable, and they can have
stationary points such as a local maxima and minima. A stationary point is a point where the first derivative of the function or slope
is zero.

First let us understand the concept of minima and maxima in a function. Maxima and minima are the highest and lowest points of a
function. There are several real-world problems which can be modelled as mathematical functions. Our ability to find the maxima
or minima can help us in finding optimal solutions for a problem. For example, if there were to be a function that maps the infections
rates in a population as a function of seasonal temperatures. Finding a minima for the function would help us find ideal temperatures
at which infection rates are the lowest. In order to find whether a point is a maxima or a minima we find the second derivative of
the function. If the value is greater than zero then it is a minima and vice versa for maxima.

Figure
1
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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
On the other hand, the Calculus of variations deals with finding stationary functions of a functional. Where, a functional is defined
as a function of a function. Functionals are entities that map functions to the real line, whereas functions map real numbers to real
numbers. In ordinary calculus we find stationary points that are either a maxima or a minima of a function, whereas in calculus of
variations we find the stationary functions of a functional which either maximize or minimize a given functional.

2.1 Understanding a Functional

For any two points in a the two dimensional cartesian plane A [a,ya] and B[b,yb], we want to find the path linking A and B such that
the distance between points A and B is minimized. This might seem like a trivial problem because amongst all possible paths it is
obvious that the path that minimizes distance between A and B along a plane is just a straight-line linking A and B. However, this
can be formulated this as a calculus of variations problem: The length of a smooth curve y(x) between 2 points A and B as shown
below can be called L(y)

Figure 2
𝑏
L(y) is given by ∫𝑎 𝑑𝑆 where dS is just an element of arc length as shown in figure 2. Where the value of L(y) varies with the
possible forms of y(x) in the interval (A, B).
If we use the Pythagorean theorem then 𝑑𝑆 = √𝑑𝑥 2 + 𝑑𝑦 2
𝑑𝑦 2
If we take out dx we will get the following √1 + ( ) 𝑑𝑥
𝑑𝑥
Hence:
𝑥2 𝑑𝑦 2
➔ 𝐿(𝑦) = ∫𝑥1 √1 + ( ) 𝑑𝑥
𝑑𝑥
In this case L(y) is a functional whose value depends on the form that y(x) can take. If we model this as a problem of calculation of
variations, we state that find y(x) such that it minimizes the functional L(y) where y(x) satisfies boundary conditions of y(a) = ya
and y(b) = yb as shown in figure 2. In generic terms a functional can be written as follows
𝑏

𝑆(𝑦) = ∫ 𝐹(𝑥, 𝑦, 𝑦 ′ )𝑑𝑥

𝑎
Where 𝐹(𝑥, 𝑦, 𝑦 ′ ) is an expression containing at least one of the functions y and y’, and possibly the variable x.

2.2 Euler-Lagrange equation

The Euler Lagrange equation can be used to find the stationary functions of any functional of the form S(y). In this paper the
derivation of the Euler Lagrange equation will not be provided since my focus is on its application. Similar to ordinary calculus
𝑑𝑦
where for a given function y(x) to find minima or maxima we solve = 0 the derivation of the Euler Lagrange equation follows
𝑑𝑥
from solving for
𝑑
𝑆[𝑦 + η𝑔] = 0
𝑑η
Where if y(x) is considered to be a stationary function, then y(x) and g(x) can be considered fixed, and changes in η result in
variations in the functional S[y+ηg]. In addition y(x) and g(x) must satisfy certain boundary conditions otherwise they could be any
arbitrary functions. The boundary conditions require the all possible functions/paths to pass through points A and B as shown in
figure 2 above.

The Lagrange equation that follows is:

𝑑 𝜕𝐹 𝜕𝐹
( ′) − =0
𝑑𝑥 𝜕𝑦 𝜕𝑦
2.3 Lagrangian Mechanics
The primary question is that how the Lagrange equation can be utilized in solving problems in advanced mechanics, which for my
exploration is the balling action of a cricket player. Therefore, we need to understand how to model the Langrangian or a Functional
for a mechanical system that is acted upon by a force.

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
2.4 Principle of Least action
In mechanics, the principle of least action helps solve problems by looking at just the energy of an object and not looking at the
forces applied to the object, which is a Newtonian approach. The principle states that an object moving under the influence of a
force (gravitational force for example) will take a path in such a manner that the summation of time averaged kinetic energy (K.E)
of the object minus the time averaged potential energy (P.E) of the particle is a minimum along the entire path. This summation of
the time averaged kinetic minus potential energy along a path is known as the Action.
𝑡𝑓

𝐴𝐶𝑇𝐼𝑂𝑁 = 𝑆 = ∫ [𝐾𝐸(𝑡) − 𝑃𝐸(𝑡)] 𝑑𝑡

𝑡𝑜
Here it can be seen that the Action is a functional that depends on the path that an object will take. Figure 3 below shows two
possible paths S1 and S2 of the many possible paths. And the action is really a summation of KE-PE at each point along the path at
small time intervals Δt -> 0.

Therefore, the problem of finding the equation of the path that an object takes reduces to finding the that path which will minimize
the Action, based on the principal least Action stated above.

Figure 3
In figure 3, S1 is true path that an object will take and if we explore any paths in the vicinity of S1 what we know from the principle
of least action is that:
Action for S2 > Action for S1

2.5 Applying the Lagrangian to the Action Functional

From the earlier discussion on Action we know that action functional S is given by the following.
𝑡𝑓

𝐴𝐶𝑇𝐼𝑂𝑁 = 𝑆 = ∫ [𝐾𝐸(𝑡) − 𝑃𝐸(𝑡)] 𝑑𝑡

𝑡𝑜
In this equation the Integrand KE-PE is defined as the Lagrangian
L = KINETIC ENERGY – POTENTIAL ENERGY = T-V
• Where T – kinetic energy
• V – potential energy
• L – the difference which is the Lagrangian
Equation of motion of a mechanical system under force can then be determined using the Euler Lagrange equation as shown below:
𝑑 𝜕𝐿 𝜕𝐿
( )− =0
𝑑𝑡 𝜕𝑥 ′ 𝜕𝑥
Taking the partial derivative of L which is basically the difference between the kinetic energy and the potential energy of a system.
In this approach the equation of motion is modelled in generalized coordinates as shown below (𝑥, 𝑥 ′ , 𝑥’’), where t is time.
𝑑𝑥 𝑑2𝑥
𝑦=𝑥, 𝑣= = 𝑥′ , 𝑎 = 2 = 𝑥’’
𝑑𝑡 𝑑𝑡
The main steps for finding the stationary path between two points are common to all variational problems, that is,
1. We start with a functional and boundary conditions on the functions that it maps
2. We find the Lagrangian for the system
3. Then use Euler-Lagrange equation to find the functions y(x) that makes it stationary; this leads to a differential equation
for the stationary function; then we solve the differential equation subject to the boundary conditions to find the stationary
function.
4. If the equation of motion depends on multiple coordinates, then we write down the Euler Lagrange equation for each
coordinate and solve it to get equations of motion.

3. MODELLING THE BOWLING ACTION

The following picture depicts the typical bowling action of a fast bowler in cricket. The baller is holding the ball in his right hand.

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology

Figure 4
To model the bowling action, we make the following simplification.
• For the purpose of the model we will only limit ourselves to that part of the action, when the baller starts to move his arms to
release the ball starting from an initial arrangement of upper and lower arm, to the time he finally release the ball above his
head. Figure 4 shows the different stages before the ball is released.
• The movement of the entire arm is limited to a single 2D plane which is along to the direction in which the bowler is moving
and the plane of movement is vertical positioned with respect to the surface. Refer to figure 5.

Figure 5
• The motion of the arm through the plane is further broken down into two distinct phases.
o Phase 1, figure 6 below, where the bowler arm has two degrees of freedom, one around the shoulder and another one around
the elbow. We will have different equation of motions for the each of the two phases.
o Phase 2, figure 7 is where the bowler arm behaves like single rigid body with a single point of rotation around the shoulder.
o The solution of phase 1 of the motion will be input to phase 2 of the motion.
o Note as per figure below 7 (d) is the start of phase 2 of the motion and end of phase 1.
o Start of phase 1 means that angle made by upper and lower arm make the same angle with the vertical y axis.

a b
c

Figure 6 – Phase 1 equivalent of a double pendulum Figure 7 – Phase 2 equivalent of a single rigid pendulum
3.1 Equation of motion for Phase 1 of the bowler action

θ1 is the angle between the y axis and the upper arm.

θ2 is the angle between the y axis and the lower arm of

the baller.

l1 is the length of the upper arm.

l2 is the length of the lower arm.

g
As a simplification we are going to assume that the mass
of the upper arm (m1) and lower arm (m2) is
concentrated at the respective ends of upper and lower
Figure 8 arm each as shown.

g is acceleration due to gravity.

3.1.1 Formulating the position coordinates and equations for velocity for m1 and m2.
Note that Phase 1 starts with any arbitrary values of θ1 and θ2. When phase 1 ends θ1 equals θ2 .
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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
Our goal in this section is to find the equation of motion will help us calculate the velocity of mass m2 at the end of phase 1 of
motion.
The position of the point mass m1 and m2, can be calculated using trigonometry as follows.
𝑥1 = 𝑙1 sin 𝜃1 , 𝑦1 = −𝑙1 cost 𝜃1 (1)
𝑥2 = 𝑙1 sin 𝜃1 + 𝑙2 sin 𝜃2 , 𝑦2 = −𝑙1 cost 𝜃1 + −𝑙2 cost 𝜃2 (2)
To find the velocity of the each of the masses m1 and m2 we differentiate with respect to time t equations in (1).
𝑑 𝑑
𝑥1 = (𝑙1 sin 𝜃1 )
𝑑𝑡 𝑑𝑡
𝑑 𝑑
𝑙1 𝑖𝑠 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑎𝑛𝑑 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒 𝑜𝑓 sin 𝜃1 with respect to time is 𝜃 cos 𝜃1 . and that of cos 𝜃1 is 𝜃 sin 𝜃1
𝑑𝑡 1 𝑑𝑡 1
we get the following
𝑑 𝑑 𝑑 𝑑
𝑥 = 𝑙1 𝜃1 cos 𝜃1 𝑁𝑜𝑡𝑒 𝑡ℎ𝑎𝑡 𝑥1 𝑎𝑛𝑑 𝜃1 𝑐𝑎𝑛 𝑎𝑙𝑠𝑜 𝑏𝑒 𝑤𝑟𝑖𝑡𝑡𝑒𝑛 𝑎𝑠 𝑥̇1 and 𝜃̇1respectively.
𝑑𝑡 1 𝑑𝑡 𝑑𝑡 𝑑𝑡
Where 𝑥̇1 is the linear velocity component along x axis, 𝑦̇1 is the linear velocity component along y axis
𝑎𝑛𝑑 𝜃̇1 𝑖𝑠 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 for mass m1
𝑇ℎ𝑒𝑟𝑒𝑓𝑜𝑟𝑒 𝑥̇1 = 𝑙1 𝜃̇1 cos 𝜃1 and 𝑦̇1 = 𝑙1 𝜃̇1 sin 𝜃1 (3)
Similar differentiating equations in (2) with respect to time t we get equations (4) for mass m2
𝑥̇ 2 = 𝑙1 𝜃̇1 cos 𝜃1 + 𝑙2 𝜃̇2 cos 𝜃2 and 𝑦̇ 2 = 𝑙1 𝜃̇1 sin 𝜃1 + 𝑙2 𝜃̇2 sin 𝜃2 (4)
From equation (1) and (2), for describing the position of m1 and m2 we need (𝑥 1, y 1, 𝜃1 ) and (𝑥 2, y 2, 𝜃2) respectively.
Since (𝑥 1, y 1 ) & (𝑥 2, y2 ) can be expressed in terms of 𝜃1 & 𝜃2 , respectively,
we can state that 𝜃1 𝑎𝑛𝑑 𝜃2 are two distinct independent variables in these equations. These are also referred as generalized
coordinates as they are sufficient to represent motion of our system in entirety.

3.1.2 Building the Lagrangian for the system

We will use the Euler Lagrange equations to find the equations of motion for the system with two independent variables 𝜃1 𝑎𝑛𝑑 𝜃2
whose initial conditions and rates of change like angular velocity will describe the motion of the two-point masses.
We know from section 3.5 that,
Lagrangian = KINETIC ENERGY – POTENTIAL ENERGY = T-V
For the case of bowling action, one more parameter we need to account for it the force coming from the arm of the bowler action
since this is an external force.
As a simplification to the model we are going to account for this is by assuming that we have an initial non-zero value of angular
velocity 𝜃̇2 , 𝑠𝑎𝑦 𝜔 , which compensates for the torque coming from the arm.
Where we 𝜔 𝑤ill be an initial condition/input to account for energy coming from the bowlers’ arm.
Therefore, the L for the purpose of phase 1 will
L = T -V
Potential energy V for m1 and m2 , due to gravity given by the following (mgh)
𝑉 = 𝑚1 𝑔𝑦1 + 𝑚2 𝑔𝑦2 (5)
Substituting values from equation (1) and (2) for y1 and y2 we get
𝑉 = 𝑚1 𝑔(−𝑙1 cost 𝜃1 ) + 𝑚2 𝑔(−𝑙1 cost 𝜃1 + −𝑙2 cost 𝜃2 ) (6)
Rearranging,
𝑉 = −(𝑚1 + 𝑚2 ) 𝑔(𝑙1 cost 𝜃1 ) − 𝑚2 𝑔(𝑙2 cost 𝜃2 ) (7)
1
Next, we calculate the Kinetic energy of the system T, we know from kinematics that K.E is 𝑚𝑣 2
2
Also, we know that the velocity of both m1 and m2 can be calculated from its component velocities using x and y components of
the velocity.
Therefore:
𝑣1 = √(𝑥̇1 )2 + (𝑦̇1 )2 (8)
𝑣2 = √(𝑥̇ 2 )2 + (𝑦̇ 2 )2 (9)
1 1
𝑇 = 𝑚1 (𝑣1 )2 + 𝑚2 (𝑣2 )2 (10)
2 2
1
Expanding 𝑚1 (𝑣1 )2 and Substituting from equations (3) for 𝑥̇1 𝑎𝑛𝑑 𝑦̇1
2
1
𝑚 (𝑣 )2
2 1 1
1
𝑚 ((𝑥̇ )2 + (𝑦̇1 )2 )
2 1 1
1 2 2
𝑚 ((𝑙 𝜃̇ cos 𝜃1 ) + (𝑙1 𝜃̇1 sin 𝜃1 ) )
2 1 1 1
1 2 2
𝑚1 ((𝑙1 𝜃̇1 cos 𝜃1 ) + (𝑙1 𝜃̇1 sin 𝜃1 ) )
2
1 2
𝑚 (𝑙 2 𝜃̇ (𝑐𝑜𝑠𝜃1 2 + 𝑠𝑖𝑛𝜃1 2 ))
2 1 1 1
1 2
𝑆𝑖𝑛𝑐𝑒 (𝑐𝑜𝑠𝜃1 2 + 𝑠𝑖𝑛𝜃1 2 ) = 1 𝑤𝑒 𝑔𝑒𝑡 𝑚1 (𝑙1 2 𝜃̇1 ) (11)
2
1
Next expanding 𝑚1 (𝑣2 )2 and Substituting from equation (4) for 𝑥̇ 2 , and 𝑦̇ 2
2
1
𝑚 (𝑣 )2
2 2 2
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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
1
𝑚 ((𝑥̇ )2 + (𝑦̇ 2 )2 )
2 2 2
1 2 2
𝑚2 ((𝑙1 𝜃̇1 cos 𝜃1 + 𝑙2 𝜃̇2 cos 𝜃2 ) + (𝑙1 𝜃̇1 sin 𝜃1 + 𝑙2 𝜃̇2 sin 𝜃2 ) )
2
Expanding both the squares and rearranging terms we get
1 2 2
𝑚 (𝑙 2 𝜃̇ + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 (sin𝜃1 sin 𝜃2 + cos𝜃1 cost 𝜃2 ))
2 2 1 1
We know that trigonometric identity (sin𝜃1 sin 𝜃2 + cos𝜃1 cost 𝜃2 ) = cos(𝜃1 − 𝜃2 )
1 2 2
𝑚 (𝑙 2 𝜃̇ + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 )) (12)
2 2 1 1

We now substitute equation (11) and (12) in (10) to write the expression for kinetic energy of the system.
1 2 1 2 2
𝑇 = 𝑚1 (𝑙1 2 𝜃̇1 ) + 𝑚2 (𝑙1 2 𝜃̇1 + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 )) (13)
2 2

At this point we have calculated both V and T. substituting from equation (7) and (12) into langrangian.
L = 𝑇 −V
1 2 ̇ 2 1 1 2 2
L = 𝑚1 (𝑙1 𝜃1 ) + 𝑚2 𝜔 + 𝑚2 (𝑙1 2 𝜃̇1 + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 ))
2
2 2 2
+ (𝑚1 + 𝑚2 ) 𝑔(𝑙1 cost 𝜃1 ) + 𝑚2 𝑔(𝑙2 cost 𝜃2 ) (14)

3.1.3 Solving the Euler Lagrange Equation

At this point we have the Lagrangian
From section 3.5 we know that
𝑑 𝜕𝐿 𝜕𝐿
( ′) − =0
𝑑𝑡 𝜕𝑥 𝜕𝑥
Since we have motion in two different dimensions given by 𝜃1 & 𝜃2 as per the Lagrangian mechanism we will have two equations,
one for each dimension.
𝑑 𝜕𝐿 𝜕𝐿
( )− =0 (15)
𝑑𝑡 𝜕𝜃̇1 𝜕𝜃1
𝑑 𝜕𝐿 𝜕𝐿
( )− =0 (16)
𝑑𝑡 𝜕𝜃̇2 𝜕𝜃2
𝑑 𝜕𝐿 𝜕𝐿
Solving equation (15) for term ( ),first we will calculate term ̇ and then take its time derivative. We are taking partial
𝑑𝑡 𝜕𝜃̇1 𝜕𝜃1
derivative of equation (14) with respect to 𝜃̇1, where only the highlighted terms from expression are differentiated and the rest
cancel out.
1 2 1 1 2 2
𝐿 = 𝑚1 (𝑙1 2 𝜃̇1 ) + 𝑚2 𝜔2 + 𝑚2 (𝑙1 2 𝜃̇1 + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 ))
2 2 2
+ (𝑚1 + 𝑚2 ) 𝑔(𝑙1 cos 𝜃1 ) + 𝑚2 𝑔(𝑙2 cos 𝜃2 )
𝜕𝐿 2 ̇ 2 ̇ ̇
̇ = 𝑚1 (𝑙1 𝜃1 ) + 𝑚2 (𝑙1 𝜃1 ) + 𝑚2 𝑙1 𝑙2 𝜃2 cos(𝜃1 − 𝜃2 )
𝜕𝜃1
(17)
𝑑 𝜕𝐿
Now let’s calculate the time derivative of equation (17), to calculate term ( ̇ )
𝑑𝑡 𝜕𝜃1
In order to differentiate 𝑚2 𝑙1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 ) 𝑤ith respect to time t, we will first use the product rule on the highlighted terms.

then the chain rule,

𝑑
Chain rule will be applied to cos(𝜃1 − 𝜃2 ) = − 𝑠𝑖𝑛 (𝜃1 − 𝜃2 ) (𝜃̇1 − 𝜃̇2 )
𝑑𝑡
Substituting we get equation (18)
𝑑 𝜕𝐿
( ̇ )=
𝑑𝑡 𝜕𝜃1
𝑚1 (𝑙1 2 𝜃̈1 ) + 𝑚2 (𝑙1 2 𝜃̈1 ) + 𝑚2 𝑙1 𝑙2 𝜃̈2 cos(𝜃1 − 𝜃2 ) − 𝑚2 𝑙1 𝑙2 𝜃̇2 sin(𝜃1 − 𝜃2 ) (𝜃̇1 − 𝜃̇2 ) (18)
𝜕𝐿
Next, we calculate terms from equation (15), the highlighted terms below will be differentiated.
𝜕𝜃1
1 2 1 1 2 2
𝐿 = 𝑚1 (𝑙1 2 𝜃̇1 ) + 𝑚2 𝜔2 + 𝑚2 (𝑙1 2 𝜃̇1 + 𝑙2 2 𝜃̇2 + 2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 cos(𝜃1 − 𝜃2 ))
2 2 2
+ (𝑚1 + 𝑚2 ) 𝑔(𝑙1 cos 𝜃1 ) + 𝑚2 𝑔(𝑙2 cos 𝜃2 )
𝜕𝐿
= −𝑚2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 sin(𝜃1 − 𝜃2 ) − (𝑚1 + 𝑚2 ) 𝑔(𝑙1 sin 𝜃1 ) (19)
𝜕𝜃1

Now substituting equation (18) and (19) in (15), we get the equation of motion.
𝑑 𝜕𝐿 𝜕𝐿
( )− = 𝑚1 (𝑙1 2 𝜃̈1 ) + 𝑚2 (𝑙1 2 𝜃̈1 ) + 𝑚2 𝑙1 𝑙2 𝜃̈2 cos(𝜃1 − 𝜃2 ) − 𝑚2 𝑙1 𝑙2 𝜃̇2 sin(𝜃1 − 𝜃2 ) (𝜃̇1 − 𝜃̇2 ) +
𝑑𝑡 𝜕𝜃̇1 𝜕𝜃1
𝑚2 𝑙1 𝜃̇1 𝑙2 𝜃̇2 sin(𝜃1 − 𝜃2 ) + (𝑚1 + 𝑚2 ) 𝑔(𝑙1 sin 𝜃1 ) = 0

On further expanding the 𝑚2 𝑙1 𝑙2 𝜃̇2 sin(𝜃1 − 𝜃2 ) (𝜃̇1 − 𝜃̇2 ) the highlighted terms cancel out.
𝑚1 (𝑙1 2 𝜃̈1 ) + 𝑚2 (𝑙1 2 𝜃̈1 ) + 𝑚2 𝑙1 𝑙2 𝜃̈2 cos(𝜃1 − 𝜃2 ) − 𝑚2 𝑙1 𝑙2 𝜃̇1 𝜃̇2 sin(𝜃1 − 𝜃2 ) + 𝑚2 𝑙1 𝑙2 (𝜃̇2 )2 sin(𝜃1 − 𝜃2 ) +
𝑚2 𝑙1 𝑙2 𝜃̇1 𝜃̇2 sin(𝜃1 − 𝜃2 ) + (𝑚1 + 𝑚2 ) 𝑔(𝑙1 sin 𝜃1 ) = 0

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
Rearranging and cancelling common terms 𝑙1 . We get the first equation of motions. Equation (20)
(𝒎𝟏 + 𝒎𝟐 )(𝒍𝟏 𝜽̈𝟏 ) + 𝒎𝟐 𝒍𝟐 𝜽̈𝟐 𝐜𝐨𝐬(𝜽𝟏 − 𝜽𝟐 )
+𝒎𝟐 𝒍𝟐 (𝜽̇𝟐 )𝟐 𝐬𝐢𝐧(𝜽𝟏 − 𝜽𝟐 ) + (𝒎𝟏 + 𝒎𝟐 ) 𝒈 𝐬𝐢𝐧 𝜽𝟏 = 0 (20)
We will follow the exact same steps to solve equation (16). Skipping the steps as it will be repetition.
𝑑 𝜕𝐿 𝜕𝐿
( )− =
𝑑𝑡 𝜕𝜃̇2 𝜕𝜃2
(𝒍𝟐 𝜽̈𝟐 ) + 𝒍𝟏 𝜽̈𝟏 𝐜𝐨𝐬(𝜽𝟏 − 𝜽𝟐 ) − 𝒍𝟏 (𝜽̇𝟏 )𝟐 𝐬𝐢𝐧(𝜽𝟏 − 𝜽𝟐 ) + 𝒈 𝐬𝐢𝐧 𝜽𝟐 = 0 (21)
These are coupled second order non-linear ordinary differential equation that we will solve numerically using Mathematica.
Second order because we have second derivative of 𝜃1 & 𝜃2 with respect to time.
Coupled as, the solution must satisfy both equations.
Non-linear because we have (𝜽̇𝟐 )𝟐 𝒂𝒏𝒅 (𝜽̇𝟏 )𝟐 terms in the equation.

To setup the solution of the problem, we will assume some initial conditions and constraints for our problem.

l1
m2 l1
𝜽𝟏 l2
m1
m1 𝜽𝒇
𝜽𝟐 l2
[Ga b
ra
m2
Figure 9
The terminating condition for the solution is when 𝜽𝟐 [𝒕] = 𝜽𝟏 [𝒕] = 𝜽𝒇 This is because both the arms will be aligned in a straight
line.

Output:
At the final position 𝜽𝒇 we want the angular velocity 𝝎𝒊 of mass 𝒎𝟐
This final angular velocity 𝝎𝒊 contributes to the initial velocity of phase 2 of bowler action, which we will use in the next section
as the initial condition.

3.2 Calculating velocity of ball in Phase 2 of the bowler action:

𝜽𝒊 is the initial angle between the y axis and the locked
m2
arm of the baller.
l2
𝜽𝒇 is the final angle between the y axis and the locked
arm of the baller.
𝜽𝒇

l1
vc is the velocity of the hand just at the time of releasing
the ball.

𝜽𝒊 vr is the velocity with which the baller is running.

l2 is the length of the lower arm.

As a simplification we are going to assume that the mass

of the upper arm (m1) and lower arm (m2) is
m2
concentrated at the respective ends of upper and lower
arm each as shown.

g is acceleration due to gravity.

Figure 10
Our goal is to calculate the final velocity at the time of release of the ball at the final position θ f as shown in the figure 10 above.
This a much simpler problem with motion in only one generalized coordinate θ1 . We can use conservation of energy here as a way
to determine the velocity of ball at the release point at angle θ f .
To set up the correct equations we will account for two important input parameters.
1. Let the angular velocity of the mass m1 and m2 coming from phase 1 of motions be ω1 The angular velocities are same for
both upper and lower arm now as the elbow is locked.

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
2. Since we know that the bowler arm will be supplying torque as the hand is rotating around the shoulder, we make a
simplifying assumption in our model by including an additional constant of angular velocity ω1t which compensates Torque
coming from the arm. This allows us to continue to use energy conservation principle without including an external force
in the equation. ω1t will be calculated using an average angular velocity of the motions in phase 2, Total angle / Total time

Therefore, based on points 1 and 2 above we can say that the initial angular velocity of the baller hand at point mass m1 and m2 be
ωi, where,
ωi (initial velocity of phase 2 motions) = ω1 + ω1t
1
Per energy conservation, sum of total initial Kinetic energy (K.Ei) 𝑚𝑣 2 and potential energy (P.Ei) mgh is equal to the total final
2
energy.
K.Ei + P.Ei = K.Ef + P.Ef (22)
Initial velocity of the mass m1 is given by angular velocity × radius at the initial position as follows.
𝑣𝑖1 = 𝜔𝑖 𝑙1
𝑣𝑖2 = 𝜔𝑖 (𝑙1 + 𝑙2 )
1 1
K.Ei = 𝑚1 (𝜔𝑖 𝑙1 )2 + 𝑚2 [𝜔𝑖 (𝑙1 + 𝑙2 )]2
2 2
P.Ei = − 𝑚1 𝑔 𝑙1 cos 𝜃𝑖 − 𝑚2 𝑔(𝑙1 + 𝑙2 ) cos 𝜃𝑖
1 1 2
K.Ef = 𝑚1 (𝜔𝑓 𝑙1 )2 + 𝑚2 [𝜔𝑓 (𝑙1 + 𝑙2 )]
2 2
P.Ef = 𝑚1 𝑔 𝑙1 cos 𝜃𝑓 − 𝑚2 𝑔(𝑙1 + 𝑙2 ) cos 𝜃𝑓
Substituting in equation (22)
1 1
𝑚1 (𝜔𝑖 𝑙1 )2 + 𝑚2 [𝜔𝑖 (𝑙1 + 𝑙2 )]2 − 𝑚1 𝑔 𝑙1 cos 𝜃𝑖 − 𝑚2 𝑔(𝑙1 + 𝑙2 ) cos 𝜃𝑖
2 2
1 1 2
= 𝑚1 (𝜔𝑓 𝑙1 )2 + 𝑚2 [𝜔𝑓 (𝑙1 + 𝑙2 )] + 𝑚1 𝑔 𝑙1 cos 𝜃𝑓 + 𝑚2 𝑔(𝑙1 + 𝑙2 ) cos 𝜃𝑓 (23)
2 2
𝟏 𝟏
[ 𝒎𝟏 (𝝎𝒊 𝒍𝟏 )𝟐 + 𝒎𝟐 [𝝎𝒊 (𝒍𝟏 + 𝒍𝟐 )]𝟐 − 𝒎𝟏 𝒈 𝒍𝟏 𝐜𝐨𝐬 𝜃𝑖 − 𝒎𝟐 𝒈(𝒍𝟏 + 𝒍𝟐 ) 𝐜𝐨𝐬 𝜃𝑖 ]
𝟐
𝝎𝒇 = 𝟐 𝟐 (24)
𝟏 𝟏
[𝒎𝟏 𝒈 𝒍𝟏 𝐜𝐨𝐬 𝜃𝑓 + 𝒎𝟐 𝒈(𝒍𝟏 + 𝒍𝟐 ) 𝐜𝐨𝐬 𝜃𝑓 ] × ⌊ 𝒎𝟏 𝒍𝟏 𝟐 + 𝒎𝟐 (𝒍𝟏 + 𝒍𝟐 )𝟐 ⌋
𝟐 𝟐
Equation (24) will give the final angular velocity of mass 𝑚2
Therefore, the final velocity of mass is given by 𝑚2 due to rotation of arm at position c is given as:
𝒗𝒄 = 𝝎𝒇 (𝒍𝟏 + 𝒍𝟐 ) (25)

3.3 Final velocity calculation when the ball leaves the baller’s hands
This will be the vector addition of 𝑣𝑐 𝑎𝑛𝑑 𝑣𝑟 𝑤here is the running velocity of the baller as show in figure 10.

4. VERIFYING MODEL
Sample data was collected by analyzing motion using a video and author as the subject.

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
4.1.1 Numerically solving for phase 1 using Mathematica software.
Phase 1 - Input data per figure 10 for motion between position a and b.
𝒍𝟏 0.363m
𝒍𝟐 0.363m
𝒎𝟏 (upper arm)
2.27 kg
(https://exrx.net/Kinesiology/Segments)
𝒎𝟐 (lower arm + hand) + ball 1.79 + 0.163 = 1.96 kg
𝜃1 [0](Initial angle of the upper arm ) 75 degrees or 1.3 radians
𝜃2 [0] (Initial angle of the lower arm) 180 degrees or 3.142 rad/sec
𝜽̇𝟏 [𝟎](Initial angular velocity of lower arm to
compensate for Torque coming from the arm – this 4.96 rad/sec
is the average derive from analysis of motion video)
𝜽̇𝟐 [𝟎] (Initial angular velocity of lower arm to
7.93 rad/sec
compensate for Torque coming from the arm – this
is the average derive from analysis of motion video)
𝜃1 [𝑡](final angle of the upper arm at the end of
Will be calculated
phase 1 of motion w.r.t y axis)
0 radians
𝜃2 [𝑡] (final angle of the lower arm at the end of This is the angled at which elbow is locked.
phase 1 of motions w.r.t y axis) This is also a terminating condition for the
solution of double pendulum equation
In the Mathematica formulation below, we break down the problem in 4 different equations. eq1 and eq2 are for the angular
velocities. eq3 and eq4 are essentially equations (20) and (21) where 𝝎𝟏 = 𝜽̇𝟏 and 𝝎𝟐 = 𝜽̇𝟐 and 𝜽𝟏 = 𝜽𝟏 [𝒕] 𝒂𝒕 𝒕 = 𝟎 and
𝜽𝟐 = 𝜽𝟐 [𝒕] 𝒂𝒕 𝒕 = 𝟎

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology

Angular (rad)

time (ms)

Figure 11 (Angular position with time)

Blue line (lower arm), Red line (upper arm)
Angular velocity (rad/sec)

time (ms)

Figure 12 (Angular velocity against time)

Blue line (lower arm), Red line (upper arm)

The out[19] is actually the value of our variables at the time when gives us the starting angle for phase 2, that is
𝜶𝒃 = 0.81 radians, 𝜽̇𝟏 = 𝟐. 𝟔𝟏 𝒓𝒂𝒅/𝒔𝒆𝒄 anticlockwise upper arm velocity, 𝜽̇𝟐 = 13.712 rad/sec (anticlockwise)
lower arm velocity at end of phase 1.

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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
4.1.2 Solving for phase 2 using Mathematica
Phase 2 - Input data per figure 10 for motion between position b and c.
𝒍𝟏 0.363m
𝒍𝟐 0.363 m
𝒎𝟏 (upper arm) (https://exrx.net/Kinesiology/Segments) 1.95 kg
𝒎𝟐 (lower arm + hand) + ball 1.52 + 0.163 = 1.68 kg
𝜽𝒊 (Initial angle of the upper arm w.r.t y axis) 46 degrees or 0.81 radians
𝝎1 Angular velocity contribution to compensate for Torque coming from the arm
muscles – In our model we estimate this equal to the average angular velocity
15.76 rad/sec
derived from the analysis of motion video.
𝝎1𝑡 Angular velocity contribution coming from motion in phase 1 of motion. In our
𝜽̇𝟏 + 𝟎. 𝟓 𝜽̇𝟐
model we assume that some velocity of the lower arm gets transferred to upper arm
= 2.61+ 0.5 (13.712)
as the elbow locks. We assume that the transfer is by a factor of 0.5.
𝝎𝑖 initial velocity for phase 2 𝝎1 + 𝝎1𝑡
225 deg or 3.92 rad
𝜽𝒇 (final angle of the upper arm at the end of phase 1 of motion w.r.t y axis)

General function ComputeFinal, as shown below follows from equation (24) above.

Final predicted velocity as per the model is 63.495 Kmph. The measure velocity using motion analysis of video is 52 kmph.

5. CONCLUSION
In the mathematical approach to model the cricket baller action to predict the velocity, I realized that the bio-mechanics of capturing
balling action is more complicated as it involves forces coming from rest of the body like back and torso. However I feel that my
approach to modelling is unique and novel in how I used well know mechanicals system problems of double pendulum and single
pendulum to model the action that primarily came from arm motion. The subject in question performed a standing action and
minimized using back and torso for generating velocity. They can be considered at best an approximation. I also had to simplify my
formulation of the Euler Lagrange equation by not considering a generalized force, which is typical in problems where an external
force is acting on the mechanical system other than gravity. My second major change to the model was to add an initial impulse to
motion of the baller’s hand to compensate for the missing generalized force and continue to use Euler Lagrange equation with no
generalized force parameter.

The other challenge I faced was that I did not have a high precise way of measuring a real-world balling action other than use a 30
frames per second camera. Since the balling action reached high angular velocity, there is a good likelihood of errors in my
measurement. With repeated trials I was able to get some averages.

From a learning perspective, this experience exposed me to not just theory of calculus of variations, but one of its formulations in
terms of Euler Lagrange. It was fascinating to see how this equation is used in complex mechanical systems to find equations of
motion using the principle of least Action. The formulation of Action was the basis of my Lagrangian functional in solving the
double pendulum problem. So far, I have been exposed to Newtonian mechanism. Another thing that I learnt about over the course
of my exploration was that Euler Lagrange equation can be used for a wide variety of problems. All the way from complicated
physics to economics, the Euler lagrange equation has various applications in the real world.
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 Aditya Amit Dhodapkar; International Journal of Advance Research, Ideas and Innovations in Technology
Finally, the user of Mathematica to solve differential equations numerically was also a good learning experience. Use of computing
to take a step wise approach to finding the solution to an equation that cannot be easily integrated or solved analytically is a powerful
technique.

6. REFERENCES
[1] Worthington, Peter J. A Biomechanical Analysis of Fast Bowling in Cricket. Loughborough University , 26 Oct. 2010,
repository.lboro.ac.uk/articles/A_biomechanical_analysis_of_fast_bowling_in_cricket/9607793.
[2] Biomechanics of Baseball Pitching. cpb-us-w2.wpmucdn.com/web.sas.upenn.edu/dist/1/223/files/2016/09/pitching-
1dvowcp.pdf.\
[3] Ghosh, Pallab, and Papan Mondal. “Biomechanical Factors Contributing to Effective Bowling in Cricket: A Review Study.”
Kheljournal, www.kheljournal.com/archives/2016/vol3issue3/PartB/3-2-73-890.pdf.
[4] Marshall, Robert N, and Rene Ferdinands. “The Effect of a Flexed Elbow on Bowling Speed in Cricket.” Researchgate,
Research Gate, 2003,
www.researchgate.net/publication/8974332_The_effect_of_a_flexed_elbow_on_bowling_speed_in_cricket.

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