Lagrangian Equations:

𝑑 𝜕𝑇 𝜕𝑇
𝑭𝒐𝒓𝒎 𝟏 ∶ ( )− =𝑊
𝑑𝑡 𝜕𝑞̇ 𝑘 𝜕𝑞𝑘

where

𝑻 is kinetic energy

𝜕𝑉
𝑾=− is the work function and 𝑽 is potential energy
𝜕𝑞𝑘

𝒒𝟏 , 𝒒𝟐 , … … … … … … … , 𝒒𝒏 are the generalized coordinates

for ex ∶ in case of rectangular coordinates, q1 = x, q2 = y and q3 = z

in case of spherical coordinates, q1 = r, q2 = θ and q 3 = φ

𝒅 𝝏𝑳 𝝏𝑳
𝑭𝒐𝒓𝒎 𝟐 ∶ ( )− =𝟎
𝒅𝒕 𝝏𝒒̇ 𝒌 𝝏𝒒𝒌

where

𝑳 = 𝑻 − 𝑽 is called the 𝑳𝒂𝒈𝒓𝒂𝒏𝒈𝒊𝒂𝒏.

Relation between Form 1 and 2 :

Few Examples:

Example 1

here as motion is in one dimension(along x axis), there is only one coordinate 𝑖. 𝑒 𝒒𝒊 = 𝒙

𝑞̇ 𝑖 = 𝑥̇ .
𝑞𝑘 in Form 2 has be taken as 𝑞𝑖 .

This is the Lagrangian equation of Motion for Spring.

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Example 2:
Equations of motion for a particle constrained to move in a plane subject to a central
𝑑𝑉
force f (r) where 𝑓(𝑟) = − 𝑑𝑟 where 𝑉 is the potential.

as motion is in two dimension(along plane), there are two coordinates 𝑖. 𝑒 𝑞1 = 𝑟 and 𝑞2 = 𝜃

 𝑑𝑉
Where 𝑓(𝑟) = −
𝑑𝑟

The Lagrange equations are given by

𝑑 𝜕𝐿 𝜕𝐿 𝑑 𝜕𝐿 𝜕𝐿
( )− = 0 𝑎𝑛𝑑 ( )− =0
𝑑𝑡 𝜕𝑟̇ 𝜕𝑟 𝑑𝑡 𝜕𝜃̇ 𝜕𝜃

……… (1)

and

…………(2)

(1) and (2) are the required Lagrange equations of motions.

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Example 3:

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Example 4:

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Example 5:

1
𝑇= 𝑚 (𝑥̇ 2 + 𝑦̇ 2 + 𝑧̇ 2 )
2

but in cylindrical coordinates 𝒙 = 𝜌 cos 𝜑 , 𝒚 = 𝜌 sin 𝜑 and 𝒛 = 𝑧

find 𝒙̇ , 𝒚̇ 𝐚𝐧𝐝 𝒛̇ ; subtitute in equation for 𝑻.

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Example 6: