01-03-2024

Structural Vibration
Title: Hamilton's Principle and Lagrange
Equation
by
Dr. A. Chakraborty
Department of Civil Engineering
Indian Institute of Technology Guwahati, India

Office: M-106
Phone: 2430
Email: arunasis@iitg.ernet.in

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Hamilton’s Principle
It shows the position of the bob.
Recall ⟹ Minimum number of independent co-
ordinate is required to describe the deformed
shape i.e. DOF.
𝑙2 = 𝑥 2 + 𝑦 2 (constrained condition)
𝜃 ⟶ Alone is enough ⟹ it is called generalized co-ordinate
The space thus formed is called configuration space.
NB: If the constrained condition is not there i.e. chord is extendable
the DOF is 2 and the physical space and configuration space are
same. It may not be always true.
Monogenic System⟶
𝛿𝑣
Conservative System⟶ 𝑣 = 𝑣 𝑟 𝐹=−
𝛿𝑟
F is force and r is the position
It is a special case of Monogenic system

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Holonomic System⟶
For this system 𝑥1 , 𝑥2 from the generalized co-ordinate.
Configuration space 𝑥𝑘 𝑘 = 1,2,3, …
For this system, we define
𝐿 =𝑇−𝑉 (i.e. Lagrangian)
𝑡2
𝑆 = න 𝐿 𝑑𝑡
𝑡1

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Hamilton’s Principle
Definition: For a conservative holonomic system, the motion between
two time instants 𝑡1 and 𝑡2 ( i.e. from A to B) follows the path for which
action integral is stationary.
𝑡2
𝛿𝑠 = 0 ⟹ 𝛿𝑠 = 𝛿 න 𝐿 𝑑𝑡 = 0
𝑡1

Generalized Single Degree of Freedom System

𝑚
ഥ ⟹ mass per unit length
Assume 𝜃 is small
1 27𝐿 3𝑚ഥ 9𝐿 3𝑚ഥ
𝐼= 3𝐿𝑚ഥ 3𝐿 = 2 =
12 12 4
Let us apply Principle of virtual work -
𝛿𝜃 ⟶ virtual displacement

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𝐿 𝐿 𝑐𝐿 𝐿 ሶ 𝐿 3𝐿
𝐼 𝜃ሷ 𝛿𝜃 + 3𝐿𝑚
ഥ ሷ𝜃 𝛿𝜃 + 𝑘𝐿 𝜃 𝐿 𝛿𝜃 + 𝜃 𝛿𝜃 − 𝑓 𝑡 𝛿𝜃 = 0
2 2 2 2 2 2
3 3 𝐿2 3𝐿2
𝛿𝜃 𝐼 + 𝐿 𝑚 ഥ 𝜃ሷ + 𝑐 𝜃ሶ + 𝐿 𝑘𝜃 −
2 𝑓 𝑡 =0
4 4 4
𝛿𝜃 ≠ 0
3 3 𝐿2 3𝐿 2
⟹ 𝐼+ 𝐿 𝑚 ഥ 𝜃ሷ + 𝑐 𝜃ሶ + 𝐿2 𝑘𝜃 = 𝑓 𝑡
4 4 4
The equation of motion is derived.
𝑦 𝑥, 𝑡 ⟹ deformed shape = 𝜙 𝑥 𝑦 𝑡 𝜙 𝐿 = 1, Shape function
𝐿
1
𝐾𝐸 = න 𝑚 𝑥 𝑦ሶ 2 𝑥, 𝑡 𝑑𝑥
0 2
𝐿
1
=න 𝑚 𝑥 𝜙 2 𝑥 𝑦ሶ 2 𝑡 𝑑𝑥
0 2
𝐿
1
=න 𝑚 𝑥 𝜙 2 𝑥 𝑑𝑥 𝑦ሶ 2 𝑡
0 2 𝐿
1 𝑀𝑒𝑞 = න 𝑚 𝑥 𝜙 2 𝑥 𝑑𝑥
= 𝑀𝑒𝑞 𝑦ሶ 2 𝑡
2 0
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Potential Energy
𝑑 2 𝑦 𝑑𝜃 𝑀 𝑥
= =
𝑑𝑥 2 𝑑𝑥 𝐸𝐼 𝑑2 𝑦
𝑀 𝑥 = 𝐸𝐼
𝑀 𝑥 𝑑𝑥 𝑑𝑥 2
𝑑𝜃 = 𝑑𝑦
𝐸𝐼 = 𝜙′ 𝑥 𝑦 𝑡
𝑑𝑥
𝐿
1
𝑉=න 𝑀 𝑥 𝑑𝜃 𝑑2 𝑦 "
2 = 𝜙 𝑥 𝑦 𝑡
0 𝑑𝑥 2
𝐿
1 𝑀 𝑥 𝑑𝑥
=න 𝑀 𝑥
0 2 𝐸𝐼
𝐿 2
1 𝑑2 𝑦
=න 𝐸𝐼 𝑥 2
𝑑𝑥
0 2 𝑑𝑥
1 𝐿 2 1
= න 𝐸𝐼 𝜙 " 𝑥 𝑑𝑥 𝑦 2 𝑡 = 𝑘𝑒𝑞 𝑦 2 𝑡
2 0 2 𝐿
2
𝑘𝑒𝑞 = න 𝐸𝐼 𝜙 " 𝑥 𝑑𝑥
0
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𝐿
𝛿𝑦 𝑐𝑒𝑞 𝑦ሶ = න 𝑐 𝑑𝑥 𝜙 𝑥 𝑦ሶ 𝑡 𝜙 𝑥 𝛿𝑦 𝑡
0 𝐿
𝐿 𝑐𝑒𝑞 = න 𝑐 𝜙 2 𝑥 𝑑𝑥
= න 𝑐 𝜙 2 𝑥 𝑑𝑥 𝑦ሶ 𝑡 𝛿𝑦 𝑡 0
0

External work done

𝐿
𝑊𝑒𝑥 = න 𝑝 𝑥, 𝑡 𝑑𝑥 𝛿𝑦
0
𝐿
= න 𝑝 𝑥, 𝑡 𝜙 𝑥 𝑑𝑥 𝛿𝑦 = 𝐹𝑒𝑞 𝛿𝑦
0

We have 𝑀𝑒𝑞 , 𝑘𝑒𝑞 , 𝑐𝑒𝑞 , 𝐹𝑒𝑞

𝑘𝑒𝑞
𝜔𝑛 =
𝑀𝑒𝑞

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NB: Equation of motion can be derived from Force Equilibrium or

Principle of Virtual Work.
Now Principle of Conservation of Energy can be need to derive free
vibration equation of any system.
1 𝑥
1
𝑇 = 𝑚 𝑥ሶ 2 𝑉 = න 𝑘𝑦 𝑑𝑦 = 𝑘𝑥 2
2 0 2
Total Energy-
1 1
𝐸 = 𝑇 + 𝑉 ⟹ 𝑚 𝑥ሶ + 𝑘𝑥 2 = 𝑐
2
2 2
𝑑𝐸
⟹ =0
𝑑𝑡
2 1
⟹ 𝑚 𝑥ሶ 𝑥ሷ + 2 𝑘𝑥 𝑥ሶ = 0 ⟹ 𝑚 𝑥ሷ + 𝑘𝑥 𝑥ሶ = 0
2 2

⟹ 𝑚 𝑥ሷ + 𝑘𝑥 = 0 As 𝑥ሶ ≠ 0 ∀ 𝑡

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Same equation that we obtained from Newton’s law or D’Alembert’s

Principle.
Energy based approach can be adopted to find the natural frequency of
a system which is essential for the design.
Let the displacement for the same SDOF system be

𝑥 𝑡 = 𝐶 sin 𝜔𝑛 𝑡 + 𝛼 𝑥ሶ 𝑡 = 𝐶 𝜔𝑛 cos 𝜔𝑛 𝑡 + 𝛼
1 2 1
𝑇𝑚 = 𝑚 𝑐 𝜔𝑛 𝑉𝑚 = 𝑘 𝑐 2
2 2
𝑇𝑚 = 𝑉𝑚 1 1
⟹ 𝑚 𝑐 𝜔𝑛 2 = 𝑘 𝑐 2
2 2
𝑘
𝜔𝑛2 = It is called Rayleigh’s Method
𝑚
It starts with an assumed deformed shape

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Assume total force acts at the free end

3𝛿 𝐿𝑥 𝑥 2
𝜙 𝑥 = 2 −
𝐿 2 6
𝐹𝐿3
𝛿=
3𝐸𝐼
Let us assume
𝐹𝐿3
𝑦 𝑥, 𝑡 = 𝜙 𝑥 𝑐 sin 𝜔𝑛 𝑡 + 𝛼 = 𝑐 sin 𝜔𝑛 𝑡 + 𝛼
3𝐸𝐼
𝐹𝐿3
𝑦ሶ 𝑥, 𝑡 = 𝑐 𝜔𝑛 cos 𝜔𝑛 𝑡 + 𝛼
3𝐸𝐼
𝐿 𝐿
1 1
𝑇𝑚 = න 𝑚 ሶ 2 𝑥, 𝑡 = න 𝑚
ഥ 𝑑𝑥 𝑦𝑚 ഥ 𝑑𝑥 𝜙 2 𝑥 𝑐 2 𝜔𝑛2
0 2 2 0
𝐿 2 2
1 2 2
3𝛿 𝐿𝑥 𝑥 2
= 𝑚𝑐
ഥ 𝜔𝑛 න − 𝑑𝑥
2 0 𝐿4 2 6
ഥ 2 𝜔𝑛2 𝐿 9𝛿 2 𝐿2 𝑥 2 𝐿𝑥 3 𝑥 4
𝑚𝑐
= න 4 − + 𝑑𝑥
2 0 𝐿 4 6 36
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ഥ 2 𝛿 2 𝜔𝑛3 1
9𝑚𝑐 1 1
= 4
− + 𝐿5
2𝐿 12 24 180

ഥ 2 𝛿 2 𝜔𝑛3 30 − 15 + 2 17𝑚𝑐
9𝑚𝑐 ഥ 2 𝛿 2 𝜔𝑛2
= =
2 360 80

1 1 3𝐸𝐼𝑐 2 𝛿 2
𝑉𝑚 = 𝐹 𝑐𝛿 =
2 2 𝐿3

𝑇𝑚 = 𝑉𝑚

ഥ 2 𝛿 2 𝜔𝑛2 1 3𝐸𝐼𝑐 2 𝛿 2
17𝑚𝑐
⟹ =
80 2 𝐿3

120𝐸𝐼
⟹ 𝜔𝑛 =
ഥ 3
17𝑚𝐿

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Calculus of variation
𝑥2
Let us consider a functional 𝐼(𝑦) = 𝑦, 𝑦 ′ , 𝑥 𝑑𝑥
∫𝑥 𝑓
1
Note: 𝑥 is the independent variable.
Our objective is to find the function 𝑦(𝑥) that optimizes the integral.
Recall
Optimization of function 𝑓(𝑥) to find the value 𝑥 ∗ .
𝑑𝑓
For this purpose, ቚ = 0. 𝑥 ∗ is the optimal pt.
𝑑𝑥 𝑥 ∗
Analytically, we consider a small variation 𝜖 of 𝑥 and expand the function
𝑓(𝑥 + 𝜖) using Taylor's Series.
𝑑𝑓 1 2 𝑑 2 𝑓
∴ 𝑓(𝑥 + 𝜖) ≈ 𝑓(𝑥) + 𝜖 + 𝜖 +⋯
𝑑𝑥 2 𝑑𝑥 2
𝑑𝑓 1 2 𝑑 2 𝑓
⇒ 𝑓(𝑥 + 𝜖) − 𝑓(𝑥) ≈ 𝜖 + 𝜖 2
+⋯
𝑑𝑥 2 𝑑𝑥
If we truncate the expansion after 3rd term,
𝑑𝑓 1 2 𝑑 2 𝑓
𝛿𝑓 = 𝑓(𝑥 + 𝜖) − 𝑓(𝑥) ≈ 𝜖 + 𝜖
𝑑𝑥 2 𝑑𝑥 2
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𝑑𝑓
For stationary pt 𝑥 ∗ ; ቚ =0
𝑑𝑥 𝑥 ∗
𝜖 2 𝑑2 𝑓
∴ 𝛿𝑓 ≈ ∙ 2
2 𝑑𝑥
2
𝑑 𝑓
When 2 ቚ ∗ is +ve, small variation informs us
𝑑𝑥 𝑥
∗
that 𝑥 is minima.

Now, if 𝑓(⋅) depends on multiple random variables 𝑥1 , 𝑥2 , … 𝑥𝑛 , then

𝑓 𝑥1 + 𝜖1 , 𝑥2 + 𝜖2 , … , 𝑥𝑛 + 𝜖𝑛 ≈ 𝑓 𝑥1 , 𝑥2 , … 𝑥𝑛
𝑛
𝑛
𝜕𝑓 1 𝜕2𝑓
+ ෍ 𝜖𝑖 ′ + ෎ 𝜖𝑖 𝜖𝑗 + 𝜃 𝜖3
𝜕𝑥𝑖 2 𝜕𝑥𝑖 𝜕𝑥𝑗
𝑖=1
𝑖,𝑗=1
𝜕𝑓
Again, =0
𝜕𝑥𝑖
to get maxima or minima,

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Calculus of Variation
𝑏
Action integral, 𝐼(𝑦) = ∫𝑎 𝑓 𝑦, 𝑦 ′ , 𝑥 𝑑𝑥

Note: 𝐼(𝑦) is linear if it obeys -

𝐼(𝛼𝑦) = 𝛼𝐼(𝑦).
𝐼(𝑥 + 𝑦) = 𝐼 𝑥 + 𝐼(𝑦)
Similarly, 𝐵(𝑥, 𝑦) is bilinear if -
𝐵 𝑥 + 𝑦, 𝑧 = 𝐵 𝑥, 𝑧 + 𝐵[𝑦, 𝑧]
𝐵 𝑥, 𝑦 + 𝑧 = 𝐵[𝑥, 𝑦] + 𝐵[𝑦, 𝑧]
𝐵 𝛼𝑥, 𝑦 = 𝛼𝐵 𝑥, 𝑦
𝐵 𝑥, 𝛼𝑦 = α𝐵 𝑥, 𝑦
Now, imagine there is a weak variation on 𝑦(𝑥).
i.e. 𝑦(𝑥) + 𝜖𝜂(𝑥)
where 𝜂(𝑥) is a function such that 𝜂(𝐴) = 𝜂(𝐵) = 0.
𝑏
∴ 𝛿𝐼 = 𝐼(𝑦 + 𝜖𝜂) − 𝐼(𝑦) = න ሼ𝑓 𝑦 + 𝜖𝜂, 𝑦 ′ + 𝜖𝜂 ′ , 𝑥 − 𝑓 𝑦, 𝑦 ′ , 𝑥 } 𝑑𝑥
𝑎

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Now, expand 𝑓 𝑦 + 𝑐𝜂, 𝑦 ′ + 𝜀𝜂 ′ , 𝑥

𝜕𝑓 𝜕𝑓
∴ 𝑓 𝑦+ 𝜖𝜂, 𝑦 ′ + 𝜖𝜂 ′ , 𝑥 ≈𝑓 𝑦, 𝑦 ′ , 𝑥 +𝜖 𝜂 +𝜂 ′
𝜕𝑦 𝜕𝑦 ′
1 𝜕2 𝑓 𝜕2 𝑓 𝜕2 𝑓
+ 𝜖2 𝜂 2 + ′
2𝜂𝜂 ′ ′ + 𝜂 ′2
2 𝜕𝑦 2 𝜕𝑦 𝑦 𝜕𝑦 ′2
+𝜃 𝑡 3
𝑏
𝜕𝑓 ′
𝜕𝑓
⇒ 𝛿𝐼 = 𝜖 න 𝜂 +𝜂 ′
𝑑𝑥
𝑎 𝜕𝑦 𝜕𝑦
1 2 𝑏 2 𝜕2𝑓 ′
𝜕 2𝑓
′2
𝜕 2𝑓
+ 𝜖 න 𝜂 2
+ 2𝜂𝜂 ′
+ 𝜂 ′2
𝑑𝑥+. . .
2 𝑎 𝜕𝑦 𝜕𝑦𝜕𝑦 𝜕𝑦
𝐼1 [𝑦] + 𝐼2 [𝑦] + 𝜃 𝑡3
↓ ↓
=
𝐿𝑖𝑛𝑒𝑎𝑟 𝑄𝑢𝑎𝑑𝑟𝑎𝑡𝑖𝑐
𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛𝑎𝑙 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛𝑎𝑙

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∴ Stationary condition yields 𝐼1 [𝑦] = 0

∴ 𝐼1 [𝑦] = 0.
𝑏
𝑑𝑓 𝜕𝑓
⇒ 𝜖න 𝜂 + 𝜂 ′ ′ 𝑑𝑥 = 0.
𝑎 𝜕𝑦 𝜕𝑦
𝑏 𝑏
𝜕𝑓 ′
𝜕𝑓
⇒ 𝜖 න 𝜂 𝑑𝑥 + න 𝜂 ′
𝑑𝑥 = 0
𝑎 𝜕𝑦 𝑎 𝜕𝑦
Consider the 2nd term on the LHS
𝑏 𝑏 𝑏
′
𝜕𝑓 𝜕𝑓 𝑑 𝜕𝑓
න 𝜂 ′
𝑑𝑥 = 𝜂 ′ ቤ − න 𝜂 ⋅ ′ 𝑑𝑥.
𝑎 𝜕𝑦 𝜕𝑦 𝑎 𝑎 𝑑𝑥 𝜕𝑦
∴ 𝐼[𝑦] = 0
𝑏
𝑑𝑓 𝑑 𝜕𝑓
⇒ 𝜖න 𝜂 −𝜂 ′
𝑑𝑥 = 0.
𝑎 𝜕𝑥 𝑑𝑥 𝜕𝑦
∴ 𝛿𝐼 = 0 for stationary condition iif
𝜕𝑓 𝑑 𝜕𝑓
− ′
= 0 → Euler′s equation or Characteristic equation
𝜕𝑥 𝑑𝑥 𝜕𝑦

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Now, consider 1st differential of 𝑓 𝑦, 𝑦 ′ , 𝑥 w.r.t 𝑥
𝑑𝑓 𝜕𝑓 𝑑𝑦 𝜕𝑓 𝑑𝑦 ′ 𝜕𝑓
= ⋅ + ′ + i.e. Chain Rule
𝑑𝑥 𝜕𝑦 𝑑𝑥 𝜕𝑦 𝑑𝑥 𝜕𝑥
′
𝜕𝑓 ′′
𝜕𝑓 𝜕𝑓
= 𝑦 +𝑦 + .
𝜕𝑦 𝜕𝑦 ′ 𝜕𝑥
Again,
𝑑 ′
𝜕𝑓 ′′
𝜕𝑓 ′
𝑑 𝜕𝑓
𝑦 = 𝑦 +𝑦
𝑑𝑥 𝜕𝑦 ′ 𝜕𝑦 ′ 𝑑𝑥 𝜕𝑦 ′
′′
𝜕𝑓 𝑑 ′
𝜕𝑓 ′
𝑑 𝜕𝑓
⇒𝑦 = 𝑦 −𝑦 ⋅
𝜕𝑦 ′ 𝑑𝑥 𝜕𝑦 ′ 𝑑𝑥 𝜕𝑦 ′
Therefore,
𝑑𝑓 ′
𝜕𝑓 𝑑 ′
𝜕𝑓 ′
𝑑 𝜕𝑓 𝜕𝑓
=𝑦 + 𝑦 −𝑦 + .
𝑑𝑥 𝜕𝑦 𝑑𝑥 𝜕𝑦 ′ 𝑑𝑥 𝜕𝑦 ′ 𝜕𝑥
𝑑𝑓 𝑑 ′
𝜕𝑓 ′
𝜕𝑓 𝜕𝑓 ′
𝑑 𝜕𝑓
⇒ − 𝑦 =𝑦 + −𝑦
𝑑𝑥 𝑑𝑥 𝜕𝑦 ′ 𝜕𝑦 𝜕𝑥 𝑑𝑥 𝜕𝑦 ′
𝑑 ′
𝜕𝑓 𝜕𝑓 ′
𝜕𝑓 𝑑𝑓 𝜕𝑓
∴ 𝑓−𝑦 ′
= +𝑦 −
𝑑𝑥 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝑑𝑥 𝜕𝑦 ′

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We have the 1st Euler’s equation ie. [∙] in the 2nd term of RHS is zero.
𝑑 ′
𝜕𝑓 𝜕𝑓
∴ 𝑓−𝑦 = .
𝑑𝑥 𝜕𝑥 𝜕𝑥
𝜕𝑦
Now, if there is no explicit dependence of 𝑓 on 𝑥 i.e. = 0, we have
𝜕𝑥
𝜕𝑓
𝑓 − 𝑦′ = cont. →Second Euler′s equation
𝜕𝑥
Therefore, we can consider 2nd variation 𝐼2 [𝑦] and Legendre Test to verify
extrema.

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Hamilton’s Principle:
Recall, Action integral.
𝑡2
𝐼 = න 𝐿𝑑𝑡.
𝑡1
Hamilton’s Principle says.

𝑡
𝛿𝐼 = 𝛿𝑡12 𝐿𝑑𝑡 = 0.
𝑡2
= 𝛿න 𝑇 𝑞𝑘 , 𝑞ሶ 𝑘 − 𝑉 𝑞𝑘 𝑑𝑡
𝑡1
𝑡2
= න 𝛿𝑇 𝑞𝑘 , 𝑞ሶ 𝑘 − 𝛿𝑉 𝑞𝑘 𝑑𝑡
𝑡1
𝑡1
𝜕𝑇 𝜕𝑇 𝜕𝑉
= න 𝛿𝑞𝑘 + 𝛿 𝑞Ǘ 𝑘 − 𝛿𝑞𝑘 𝑑𝑡
𝑡1 𝜕𝑞𝑘 𝜕𝑞ሶ 𝑘 𝜕𝑞𝑘
𝑡2
𝜕 𝜕𝑇
= න 𝑇 − 𝑉 ⋅ 𝛿𝑞𝑘 + 𝛿 𝑞Ǘ 𝑘 𝑑𝑡
𝑡1 𝜕𝑞𝑘 𝜕𝑞ሶ 𝑘

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𝑡2 𝑡2
𝜕𝐿 𝜕𝑇 𝑑
= න 𝛿𝑞𝑘 𝑑𝑡 + න 𝛿𝑞𝑘 𝑑𝑡
𝑡1 𝜕𝑞𝑘 𝑡1 𝜕 𝑞
Ǘ 𝑘 𝑑𝑡
𝑡2
𝜕𝐿 𝜕𝑇 𝑡2 𝑑 𝑡2
𝑑 𝜕𝑇
= න 𝛿𝑞𝑘 𝑑𝑡 + න 𝛿𝑞𝑘 𝑑𝑡 − න 𝛿𝑞𝑘 𝑑𝑡
𝑡1 𝜕𝑞𝑘 𝜕 𝑞
Ǘ 𝑘 𝑡1 𝑑𝑡 𝑡1 𝑑𝑡 𝜕 𝑞
Ǘ 𝑘
𝑡2 2 𝑡
𝜕𝐿 𝑑 𝜕L 𝜕𝑇
= න − 𝛿𝑞𝑘 𝑑𝑡 + 𝛿𝑞 ቤ
𝑡1 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞Ǘ 𝑘 𝜕𝑞Ǘ 𝑘 𝑘 𝑡
1
𝑡2
𝜕𝐿 𝑑 𝜕L
= න − 𝛿𝑞𝑘 𝑑𝑡
𝑡1 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞Ǘ 𝑘
= 0
𝑑 𝜕L 𝜕𝐿
∴ − = 0 → 𝐿𝑎𝑔𝑟𝑎𝑛𝑔𝑒′𝑠 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
𝑑𝑡 𝜕𝑞Ǘ 𝑘 𝜕𝑞𝑘

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Lagrange's equation (Example)

1
𝐾𝐸 = 𝑇 = 𝑚𝑣 2
2
Again,
𝜃 = 𝑠/𝑙 ⇒ 𝑠 = 𝑙𝜃
𝑑𝑠 𝑑𝜃
⇒ =𝑙
𝑑𝑡 𝑑𝑡
1 2 2
𝑇 = 𝑚𝑙 𝜃ሶ
2
Ǘ 𝑡)
Note: 𝛼(𝜃, 𝜃,
𝑃𝐸 = 𝑉 = 𝑚𝑔(𝑙 − l cos 𝜃)
1 2 2
∴ 𝐿 = 𝑇 − 𝑉 = 𝑚𝑙 𝜃Ǘ − 𝑚𝑔𝑙(1 − cos 𝜃)
2
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Lagrange's equation
𝑑 𝜕𝐿 𝜕𝐿
− = 0.
𝑑𝑡 𝜕 θሶ 𝜕𝜃
𝑑 𝜕 1 2 2 𝜕
⇒ 𝑚𝑙 𝜃Ǘ + 𝑚𝑔𝑙(1 − 𝑠𝑖𝑛𝜃) = 0.
𝑑𝑡 𝜕𝜃Ǘ 2 𝜕𝜃
𝑑
⇒ 𝑚𝑙 2 𝜃Ǘ + 𝑚𝑔𝑙sin 𝜃 = 0
𝑑𝑡
⇒ ⇒ 𝑚𝑙 2 𝜃ǃ + 𝑚𝑔𝑙sin 𝜃 = 0
𝑔
⇒ ǃ
𝜃 + 𝜃 = 0 (If 𝜃 𝑖𝑠 small, sin 𝜃 ≈ 𝜃)
𝑙
𝑔
𝜔𝑛 =
𝑙
Same equation derived earlier.

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Caw we get Lagrange’s equation from

D'Alembert’s Principle?
Let us consider 𝑚 particles having position vector 𝑟𝑖
∴ 𝑟Ԧ𝑖 = 𝑟Ԧ𝑖 𝑞1 , 𝑞2 , ⋯ 𝑞𝑘 , ⋯ 𝑞𝑛 , 𝑖 = 1 to 𝑚
generalised co − ordinate
Again, 𝑟Ԧ𝑖 = 𝑥𝑖 𝑖ƶ + 𝑦𝑖 𝑗ƶ + 𝑧𝑖 𝑘ƶ → physical space
∴ Let us consider a virtual displacement
𝑛
𝜕𝑟Ԧ𝑖
𝛿 𝑟Ԧ𝑖 = ෍ 𝛿𝑞 i. e. chain rule . . . 1
𝜕𝑟𝑘 𝑘
𝑘=1
Now, let us apply Virtual Work principle i.e.
𝑚

෍ 𝐹Ԧ𝑖 − 𝑝Ԧ𝑖 𝛿 𝑟Ԧ𝑖 = 0 . . . 2

𝑖=1
𝑚 𝑚

⇒ ෍ 𝐹Ԧ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 = ෍ 𝑝Ԧ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 . . . 3

𝑖=1 𝑖=1

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Let us consider LHS,

𝑚 𝑚 𝑛
𝜕𝑟Ԧ𝑖
෍ 𝐹Ԧ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 = ෍ 𝐹Ԧ𝑖 ⋅ ෍ 𝛿𝑘𝑘 .
𝜕𝑞𝑘
𝑖=1 𝑖=1 𝑘=1
𝑛 𝑚
𝜕𝑟Ԧ𝑖
= ෍ ෍ 𝐹Ԧ𝑖 𝛿𝑞𝑘
𝜕𝑞𝑘
𝑘=1 𝑖=1
𝑚
𝜕𝑟Ԧ𝑖
𝑄𝑘 = ෍ 𝐹Ԧ𝑖
𝜕𝑞𝑘
𝑖=1
𝑚
𝜕𝑉 𝜕𝑉 𝜕𝑉 𝜕
𝑄𝑘 =෎− ƶ
𝑖+ ƶ
𝑗+ ƶ
𝑘 ⋅ 𝑥𝑖 𝑖ƶ + 𝑦𝑖 𝑗ƶ + 𝑧𝑖 𝑘ƶ
𝜕𝑥𝑖 𝜕𝑦𝑖 𝜕𝑧𝑖 𝜕𝑞𝑘
𝑖=1
𝑚
𝜕𝑉 𝜕𝑉 𝜕𝑉 𝜕𝑥𝑖 𝜕𝑦𝑖 𝜕𝑧𝑖
= ෎− ƶ
𝑖+ ƶ
𝑗+ ƶ
𝑘 ⋅ ƶ
𝑖+ ƶ
𝑗+ 𝑘ƶ
𝜕𝑥𝑖 𝜕𝑦𝑖 𝜕𝑧𝑖 𝜕𝑥𝑘 𝜕𝑥𝑘 𝜕𝑥𝑘
𝑖=1

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𝜕𝑉 𝜕𝑥𝑖 𝜕𝑉 𝜕𝑦 ′ 𝜕𝑉 𝜕𝜉 ′
= −ා + + ⋅
𝜕𝑥𝑖 𝜕𝑞𝑘 𝜕𝑦𝑖 𝜕𝑞𝑘 𝜕𝑦𝑖 𝜕𝑞𝑘
Chain rule on V xi ,yi ,zi
𝑖=1
𝜕𝑉
=−
𝜕𝑞𝑘
Therefore, LHS becomes
𝑚 𝑛

෍ 𝐹Ԧ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 = ෍ 𝑄𝑘 ⋅ 𝛿𝑞𝑘

𝑖=1 𝑘=1
𝑚
𝜕𝑣
= ෎− 𝛿𝑞𝑘
𝜕𝑞𝑘
𝑘=1
Now, consider the RHS of eqn. (3)
𝑚 𝑚

෍ 𝑝Ԧሶ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 ഥ 𝑖 𝑟Ԧ𝑖ሷ ∙ 𝛿 𝑟Ԧ𝑖

= ෍𝑚
𝑖=1 𝑖=1

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𝑚 𝑛
𝜕𝑟Ԧ𝑖
ഥ 𝑖 𝑟Ԧ𝑖ሷ ∙ ෍
= ෍𝑚 𝛿𝑞
𝜕𝑞𝑘 𝑘
𝑖=1 𝑘=1
𝑛 𝑚
𝜕𝑟Ԧ𝑖
ഥ 𝑖 𝑟Ԧ𝑖ሷ ∙
= ෍ ෍𝑚 𝛿𝑞𝑘
𝜕𝑞𝑘
𝑘=1 𝑖=1
𝑛 𝑚
𝑑 𝜕𝑟Ԧ𝑖 𝑑 𝜕𝑟Ԧ𝑖
=෍ ෍ 𝑚 Ԧ
ഥ 𝑖 𝑟𝑖ሶ −𝑚 Ԧ
ഥ 𝑖 𝑟𝑖ሶ 𝛿𝑞𝑘
𝑑𝑡 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘
𝑘=1 𝑖=1
Note:
𝑑 𝜕 𝑟Ԧ𝑖 𝜕𝑟Ԧ𝑖 𝑑 𝜕𝑟Ԧ𝑖
Ԧ
𝑚𝑖 𝑟Ǘ𝑖 Ԧ
= 𝑚𝑖 𝑟ǃ𝑖 ∙ Ԧ
+ 𝑚𝑖 𝑟Ǘ𝑖 ∙
𝑑𝑡 𝜕𝑟𝑘 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘
𝜕𝑟Ԧ𝑖 𝑑 𝜕𝑟Ԧ𝑖 𝑑 𝜕𝑟Ԧ𝑖
⇒ 𝑚𝑖 𝑟Ԧ𝑖ሷ = 𝑚𝑖 𝑟ԦǗ𝑖 − 𝑚𝑖 𝑟ԦǗ𝑖 ∙
𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘 𝑑𝑡 𝜕𝑞𝑘
Again,
𝑟Ԧ𝑖ሶ = 𝑣Ԧ𝑖
𝑑
𝜕𝑟Ԧ𝑖 𝜕𝑟Ԧ𝑖 𝜕𝑟Ԧ𝑖ሶ 𝜕𝑣Ԧ𝑖
= 𝑑𝑡 = =
𝜕𝑞𝑘 𝑑 𝜕 𝑞
Ǘ 𝑘 𝜕𝑞Ǘ 𝑘
𝜕𝑞𝑘
𝑑𝑡
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𝑚 𝑛 𝑚
𝑑 𝜕𝑣Ԧ𝑖 𝜕
∴ ෍ 𝑝Ԧ𝑖 ⋅ 𝛿 𝑟Ԧ𝑖 =෍ ෍ 𝑚
ഥ 𝑣Ԧ −𝑚
ഥ 𝑖 𝑣Ԧ𝑖 𝑣Ԧ 𝛿𝑞𝑘
𝑑𝑡 𝑖 𝑖 𝜕𝑞Ǘ 𝑘 𝜕𝑞𝑘 𝑖
𝑖=1 𝑘=1 𝑖=1
𝑚 𝑚 𝑚
𝑑 𝜕 1 𝜕 1
=෍ ቎ ෍ 𝑚 ഥ 𝑖 𝑣Ԧ𝑖 ⋅ 𝑣Ԧ𝑖 − ෍ 𝑚 ഥ 𝑖 𝑣Ԧ𝑖 ⋅ 𝑣Ԧ𝑖 ൩ 𝛿𝑞𝑘
𝑑𝑡 𝜕𝑞Ǘ 𝑘 2 𝜕𝑞𝑘 2
𝑘=1 𝑖=1 𝑖=1
.
𝑚
𝑑 𝜕𝑇 𝜕𝑇
=෍ − 𝛿𝑞𝑘
𝑑𝑡 𝜕𝑞Ǘ 𝑘 𝜕𝑞𝑘
𝑘=1
Equating these two expressions, we get.
𝑚 𝑚

෍ 𝐹𝑖 ∙ 𝛿 𝑟Ԧ𝑖 = ෍ 𝑝Ԧሶ𝑖 ∙ 𝛿 𝑟Ԧ𝑖

𝑖=1 𝑖=1
𝑚 𝑚
𝜕𝑉 𝑑 𝜕𝑇 𝜕𝑇
⇒෍ − 𝛿𝑞 = ෍ − 𝛿𝑞𝑘
𝜕𝑞𝑘 𝑘 𝑑𝑡 𝜕𝑞Ǘ 𝑘 𝜕𝑞𝑘
𝑘=1 𝑘=1
𝑚
𝑑 𝜕 𝜕
⇒෍ (𝑇 − 𝑉) − (𝑇 − 𝑉) 𝛿𝑞𝑘 = 0
𝑑𝑡 𝜕𝑞𝑘 𝜕𝑞𝑘
𝑘=1

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𝑚
𝑑 𝜕𝐿 𝜕𝐿
⇒෍ − 𝛿𝑞𝑘 = 0.
𝑑𝑡 𝜕𝑞𝑘 𝜕𝑞𝑘
𝑘=1
𝑑 𝜕𝐿 𝜕𝐿
∴ − =0 (∵ 𝛿𝑞𝑘 ≠ 0)
𝑑𝑡 𝜕𝑞𝑘 𝜕𝑞𝑘

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Q.1. What is Hamiltonian?

Q.2. What is Hamilton’s Canonical equation of
motion?
Q.1.Ans:
Lagrangian 𝑑𝑞𝑘
𝐿 =𝑇−𝑉 𝑞ሶ 𝑘 =
𝑑𝑡
= 𝐿 𝑞𝑘 , 𝑞ሶ 𝑘 , 𝑡
Lagrange’s Equation
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑞ሶ 𝑘 𝜕𝑞𝑘
• It is a second order differential equation.
• It also fails to explain quantum mechanics.
• 𝑞𝑘 and 𝑞ሶ 𝑘 are not independent.
Let us investigate differentiation of L w.r.t. t.

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𝑑𝐿 𝜕𝐿 𝜕𝐿 𝜕𝐿 𝐿 =𝑇−𝑉
= 𝑞ሶ 𝑘 + 𝑞ሷ 𝑘 +
𝑑𝑡 𝜕𝑞𝑘 𝜕𝑞ሶ 𝑘 𝜕𝑡
𝜕𝐿 𝜕𝑇 𝜕𝑣
𝑑 𝜕𝐿 𝜕𝐿 𝜕𝐿 = − 𝑞
= 𝑞ሶ + 𝑞ሷ + 𝜕𝑞ሶ 𝑘 𝜕𝑞ሶ 𝑘 𝜕𝑞ሶ 𝑘 𝑘
𝑑𝑡 𝜕𝑞ሶ 𝑘 𝑘 𝜕𝑞ሶ 𝑘 𝑘 𝜕𝑡
𝜕 1
𝑑 𝜕𝐿 𝜕𝐿 = ෍ 𝑀𝑘 𝑞ሶ 𝑘2
= 𝑞ሶ + 𝜕𝑞ሶ 𝑘 2
𝑑𝑡 𝑘 𝜕𝑞ሶ 𝑘 𝜕𝑡 𝑘

𝑑 𝜕𝐿 = 𝑀𝑘 𝑞ሶ 𝑘
= 𝑞ሶ 𝑝 +
𝑑𝑡 𝑘 𝑘 𝜕𝑡 = 𝑝𝑘 (Generalized Momentum)
𝑑𝐿 𝑑 𝜕𝐿
⟹− + 𝑞ሶ 𝑝 = −
𝑑𝑡 𝑑𝑡 𝑘 𝑘 𝜕𝑡
𝑑 𝜕𝐿
⟹ 𝑞ሶ 𝑝 − 𝐿 = −
𝑑𝑡 𝑘 𝑘 𝜕𝑡
𝑑𝐻 𝜕𝐿 𝐻 = ෍ 𝑞ሶ 𝑘 𝑝𝑘 − 𝐿 = 𝐻 𝑞𝑘 , 𝑝𝑘 , 𝑡
⟹ =−
𝑑𝑡 𝜕𝑡 𝑘

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If for a system 𝐿 = 𝑇 − 𝑉 does change with time .

𝜕𝐿 𝑑𝐻
= 0. It implies = 0, i.e. H=constant
𝜕𝑡 𝑑𝑡
It signifies the conservation of energy.
We get Hamiltonian Function 𝐻 = σ𝑘 𝑞ሶ 𝑘 𝑝𝑘 − 𝐿 = 𝐻 𝑞𝑘 , 𝑝𝑘 , 𝑡
Note: 𝐻 = σ𝑘 𝑀𝑘 𝑞ሶ 𝑘 𝑞ሶ 𝑘 − 𝑇 − 𝑉 = 2𝑇 − 𝑇 + 𝑉 = 𝑇 + 𝑉 = Total Energy

Q.2.Ans:
𝑑𝐻
𝜕𝐻 𝜕𝐻 𝜕𝐻
⟹ 𝑑𝐻 = ෍ 𝑑𝑞𝑘 + ෍ 𝑑𝑝𝑘 + 𝑑𝑡
𝜕𝑞𝑘 𝜕𝑝𝑘 𝜕𝑡
𝑘 𝑘

𝐻 = ෍ 𝑞ሶ 𝑘 𝑝𝑘 − 𝐿 It is the relation between H and L.

𝑘

𝑑𝐻 = ෍ 𝑝𝑘 𝑑𝑞ሶ 𝑘 + ෍ 𝑑𝑝𝑘 𝑞ሶ 𝑘 − 𝑑𝐿
𝑘 𝑘

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𝐿 = 𝐿 𝑞𝑘 , 𝑞ሶ 𝑘 , 𝑡 Note:
𝜕𝐿 𝜕𝐿 𝜕𝐿
𝑑𝐿 = ෍ 𝑑𝑞𝑘 + ෍ 𝑑𝑞ሶ 𝑘 + 𝑑𝑡 𝜕𝐿
𝜕𝑞𝑘 𝜕𝑞ሶ 𝑘 𝜕𝑡 = 𝑝𝑘
𝑘 𝑘 𝜕𝑞ሶ 𝑘
𝜕𝐿
= ෍ 𝑝ሶ 𝑘 𝑑𝑞𝑘 + ෍ 𝑝𝑘 𝑑𝑞ሶ 𝑘 + 𝑑𝑡 𝑑 𝜕𝐿 𝜕𝐿
𝜕𝑡 − =0
𝑘 𝑘 𝑑𝑡 𝜕𝑞ሶ 𝑘 𝜕𝑞𝑘
𝑑𝐻 = ෍ 𝑝𝑘 𝑑𝑞ሶ 𝑘 + ෍ 𝑑𝑝𝑘 𝑞ሶ 𝑘 − ෍ 𝑝ሶ 𝑘 𝑑𝑞𝑘 − 𝑑 𝜕𝐿
⟹ 𝑝 =
𝑘 𝑘 𝑘 𝑑𝑡 𝑘 𝜕𝑞𝑘
𝜕𝐿 𝜕𝐿
෍ 𝑝𝑘 𝑑 𝑞ሶ 𝑘 − 𝑑𝑡 ⟹ = 𝑝ሶ 𝑘
𝜕𝑡 𝜕𝑞𝑘
𝑘
𝜕𝐿
= ෍ 𝑑𝑝𝑘 𝑞ሶ 𝑘 − ෍ 𝑝ሶ 𝑘 𝑑𝑞𝑘 − 𝑑𝑡
𝜕𝑡
𝑘 𝑘

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Compare two expressions of 𝑑𝐻 (compare all the coefficients)

𝜕𝐻
• = −𝑝ሶ 𝑘 coefficients of 𝑑𝑞𝑘 .
𝜕𝑞𝑘
𝜕𝐻
• = 𝑞ሶ 𝑘 coefficients of 𝑑𝑝𝑘 .
𝜕𝑝𝑘
𝜕𝐻 𝜕𝐿
• =−
𝜕𝑡 𝜕𝑡
Equation 1 and 2 are called Hamilton’s Canonical equation of motion.
Note: These are first order differential equation much easier to solve. But
two equations need to be solved instead of one in Lagrangian.
Example: Solve simple pendulum and find Hamilton’s Canonical form

𝑠 = 𝑙𝜃 ⟹ 𝑠ሶ = 𝑙 𝜃ሶ
1 2 1
𝑇 = 𝑚 𝑙 𝜃ሶ = 𝑚𝑙 2 𝜃ሶ 2
2 2
𝑉 = 𝑚𝑔 𝑙 − 𝑙 cos 𝜃

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1
𝐿 = 𝑇 − 𝑉 = 𝑚𝑙 2 𝜃ሶ 2 − 𝑚𝑔 𝑙 − 𝑙 cos 𝜃 𝜕𝐿
2 = 𝑝𝑘
𝜕𝐿 𝜕𝑞ሶ 𝑘
⟹ 𝑝𝜃 = = 𝑚𝑙 2 𝜃ሶ
𝜕𝜃ሶ 𝜕𝐿
⟹ 𝑝ሶ 𝜃 = 𝑚𝑙 2 𝜃ሷ ⟹
ሶ
= 𝑝𝜃
𝜕𝜃

𝐻 = 𝑞ሶ 𝑘 𝑝𝑘 − 𝐿
1
⟹ 𝐻 = 𝑝𝜃 𝜃ሶ − 𝐿 = 𝑚𝑙 2 𝜃ሶ 2 − 𝑚𝑙 2 𝜃ሶ 2 + 𝑚𝑔 𝑙 − 𝑙 cos 𝜃
2
1
⟹ 𝐻 = 𝑚𝑙 2 𝜃ሶ 2 + 𝑚𝑔 𝑙 − 𝑙 cos 𝜃 System is Conservative
2
1 2
𝑝𝜃 2
⟹ 𝐻 = 𝑚𝑙 + 𝑚𝑔 𝑙 − 𝑙 cos 𝜃
2 𝑚𝑙 2
𝑝𝜃2
= + +𝑚𝑔 𝑙 − 𝑙 cos 𝜃
2𝑚𝑙 2

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𝜕𝐻
= −𝑝ሶ 𝑘
𝜕𝑞𝑘

𝜕𝐻
= −𝑝ሶ 𝜃
𝜕𝜃
𝜕𝐻
⟹ = −𝑚𝑙 2 𝜃ሷ
𝜕𝜃
𝑔 𝑔
⟹ 𝑚𝑔𝑙 sin 𝜃 = −𝑚𝑙 𝜃ሷ2 ሷ
⟹𝜃+ 𝜃=0 𝜔𝑛 =
𝑙 𝑙
𝜕𝐻
= 𝑞ሶ 𝑘
𝜕𝑝𝑘

𝜕𝐻 𝑝𝜃 𝑝𝜃 No use in this problem

= 𝜃ሶ ⟹ 2= 2
𝜕𝑝𝜃 𝑚𝑙 𝑚𝑙

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Do we get Hamilton’s Principle satisfied if we start from the

continuum mechanics of an elastic body.
𝜕2𝑢
𝜎𝑖𝑗,𝑗 + 𝑓𝑖 = 𝜌 2
𝜕𝑡
𝑇𝑖 is traction force at
𝑇𝐼 = 𝜎𝐼𝐽 𝑛𝑗 the surface

So, we have displacement field 𝑢 𝑥,Ԧ 𝑡 and we consider a virtual

displacement 𝛿𝑢 . It will be kinematically admissible if
𝛿 𝑢𝑖 𝑥,
Ԧ 𝑡1 = 𝛿𝑢𝑖 𝑥,
Ԧ 𝑡2 = 0

Now, virtual external work done is

𝛿𝑊𝐸 = න 𝑇𝑖 𝛿𝑢𝑖 𝑑𝑠 + න 𝑓𝑖 𝛿𝑢𝑖 𝑑𝑣

𝑆 (from 𝑣 (from
surface body
traction) force)
We can convert surface integral into a volume integral using Gauss
Divergence Theorem

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න ∇. 𝐴Ԧ 𝑑𝑣 = න𝑛.
ො 𝐴 𝑑𝑠
𝑣 𝑠

First term in 𝛿𝑊𝐸 is

න 𝑇𝐼 𝛿𝑢𝑖 𝑑𝑠 = න𝜎𝑖𝑗 𝑛𝑗 𝛿𝑢𝑖 𝑑𝑠 = න 𝜎𝑖𝑗 𝛿𝑢𝑖 𝑑𝑣

,𝑗
𝑠 𝑠 𝑣

= න 𝜎𝑖𝑗,𝑗 𝛿𝑢𝑖 + 𝜎𝑖𝑗 𝛿𝑢𝑖,𝑗 𝑑𝑣

𝑣

𝛿𝑊𝐸 = න 𝜎𝑖𝑗,𝑗 𝛿𝑢𝑖 + 𝜎𝑖𝑗 𝛿𝑢𝑖,𝑗 𝑑𝑣 + න 𝑓𝑖 𝛿𝑢𝑖 𝑑𝑣

𝑣 𝑣

= න 𝜎𝑖𝑗,𝑗 + 𝑓𝑖 𝛿𝑢𝑖 𝑑𝑣 + න 𝜎𝑖𝑗 𝛿𝑢𝑖,𝑗 𝑑𝑣

𝑣 𝑣

𝜕2𝑢
=න 𝜌 2
𝛿𝑢𝑖 𝑑𝑣 + න 𝜎𝑖𝑗 𝛿𝜀𝑖𝑗 𝑑𝑣
𝑣 𝜕𝑡 𝑣

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𝜕2𝑢
𝛿𝑊𝐸 = න 𝜌 2 𝛿𝑢𝑖 𝑑𝑣 + න 𝝈𝒊𝒋 𝜹𝜺𝒊𝒋 𝑑𝑣
𝑣 𝜕𝑡 𝑣

Variation of strain energy density

⟹ 𝛿𝑊𝐸 = න 𝜌 𝑢ሷ 𝑖 𝛿𝑢𝑖 𝑑𝑣 + 𝛿 𝑢ത
𝑣
𝑡2 𝑡2 𝑡2
⟹ න 𝛿𝑊𝐸 𝑑𝑡 = න න 𝜌 𝑢ሷ 𝑖 𝛿𝑢𝑖 𝑑𝑣 𝑑𝑡 + න 𝛿 𝑢ത 𝑑𝑡 𝑢ത = strain energy
𝑡1 𝑡1 𝑣 𝑡1

𝑡2 𝑡2
⟹න 𝛿𝑊𝐸 − 𝛿 𝑢ത 𝑑𝑡 = න න 𝜌 𝑢ሷ 𝑖 𝛿𝑢𝑖 𝑑𝑣 𝑑𝑡
𝑡1 𝑡1 𝑣
𝑡2 𝑡2
𝑡2
⟹න 𝛿𝑊𝐸 − 𝛿 𝑢ത 𝑑𝑡 = න 𝜌𝑢ሶ 𝑖 𝛿𝑢𝑖 𝑑𝑣 𝑡1 − න න 𝜌 𝑢ሶ 𝑖 𝛿𝑢𝑖 𝑑𝑣 𝑑𝑡
𝑡1 𝑣 𝑡1 𝑣
𝑡2 𝑡2 𝑡2
1
⟹න 𝛿𝑊𝐸 − 𝛿 𝑢ത 𝑑𝑡 = − න 𝛿 𝜌𝑢ሶ 𝑖 𝑢ሶ 𝑖 𝛿𝑢𝑖 𝑑𝑣 𝑑𝑡 = − න 𝛿𝑇 𝑑𝑡
𝑡1 𝑡1 2 𝑡1

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𝑡2
⟹න 𝛿𝑊𝐸 − 𝛿𝑢 + 𝛿𝑇 𝑑𝑡 = 0
𝑡1
𝑡2
⟹ න 𝛿 𝑇 − 𝑢 − 𝑣 𝑑𝑡 = 0
𝑡1

𝑡2
⟹ න 𝛿𝐿 𝑑𝑡 = 0
𝑡1

𝑡2
Hamilton’s Principle
⟹ 𝛿 න 𝐿 𝑑𝑡 = 0
𝑡1

• For each generalized co-ordinate there are two canonical equation of

motion while one equation in Lagrangian formulation.
• Canonical equations are 1st order equation easy to solve, while Lagrange
equation is 2nd order difficult to solve

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Example
𝑥𝑀 = 𝑥 − 𝑙 sin 𝜃 𝑥ሶ 𝑀 = 𝑥ሶ − 𝑙 𝜃ሶ cos 𝜃

𝑦𝑀 = 𝑙 cos 𝜃 𝑦ሶ 𝑀 = −𝑙 𝜃ሶ sin 𝜃

𝑉 = 𝑚𝑔 𝑙 cos 𝜃
1 1
𝑇 = 𝑀𝑥ሶ + 𝑚 𝑥ሶ 𝑀 2 + 𝑦ሶ 𝑀 2
2
2 2
1 1 2 2
= 𝑀𝑥ሶ 2 + 𝑚 𝑥ሶ − 𝑙 𝜃ሶ cos 𝜃 + −𝑙 𝜃ሶ sin 𝜃
2 2
1 1
= 𝑀𝑥ሶ + 𝑚 𝑥ሶ 2 − 2𝑙𝜃ሶ 𝑥ሶ cos 𝜃 + 𝑙 2 𝜃ሶ 2 𝑐𝑜𝑠 2 𝜃 + 𝑙 2 𝜃ሶ 2 𝑠𝑖𝑛2 𝜃
2
2 2
1 1
= 𝑀𝑥ሶ + 𝑚 𝑥ሶ 2 − 2𝑙𝜃ሶ 𝑥ሶ cos 𝜃 + 𝑙 2 𝜃ሶ 2
2
2 2

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𝐿 =𝑇−𝑉
𝑑 𝜕𝐿 𝜕𝐿
− = 𝑄𝑘
𝑑𝑡 𝜕𝑞ሶ 𝑘 𝜕𝑞𝑘
1 1 2 2
𝐿 = 𝑀 + 𝑚 𝑥ሶ + 𝑚𝑙 𝜃ሶ − 𝑚𝑙𝜃ሶ 𝑥ሶ cos 𝜃 − 𝑚𝑔 𝑙 cos 𝜃
2
2 2
𝑑 𝜕𝐿 𝑑
= 𝑀 + 𝑚 𝑥ሶ − 𝑚𝑙𝜃ሶ cos 𝜃 = 𝑀 + 𝑚 𝑥ሷ − 𝑚𝑙 𝜃ሷ cos 𝜃 − 𝑚𝑙 𝜃ሶ 2 sin 𝜃
𝑑𝑡 𝜕𝑥ሶ 𝑑𝑡
𝑑 𝜕𝐿 𝜕𝐿
− ⟹ 𝑀 + 𝑚 𝑥ሷ − 𝑚𝑙 𝜃ሷ cos 𝜃 − 𝑚𝑙 𝜃ሶ 2 sin 𝜃 = 𝐹 𝑡 1
𝑑𝑡 𝜕𝑥ሶ 𝜕𝑥
𝑑 𝜕𝐿 𝑑
= 𝑚𝑙 2 𝜃ሶ − 𝑚𝑙 𝑥ሶ cos 𝜃 = 𝑚𝑙 2 𝜃ሷ − 𝑚𝑙 𝑥ሷ cos 𝜃 + 𝑚𝑙 𝑥ሶ 𝜃ሶ sin 𝜃
𝑑𝑡 𝜕𝜃ሶ 𝑑𝑡
𝑑 𝜕𝐿 𝜕𝐿
− ⟹ 𝑚𝑙 2 𝜃ሷ − 𝑚𝑙 𝑥ሷ cos 𝜃 + 𝑚𝑙 𝑥ሶ 𝜃ሶ sin 𝜃 − 𝑚𝑙 𝑥ሶ 𝜃ሶ sin 𝜃 −
𝑑𝑡 𝜕𝜃ሶ 𝜕𝜃
𝑚𝑔𝑙 sin 𝜃 = 0 2

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