Chapter 5 AMM302GC4

Chaper 5 MOTION OF A SPINNING TOP

Eulerian angles
As has already been mentioned the motion of a rigid body can be described by means of the
three Co-ordinates of its centre of mass and any three angles which determine the orientation
of the axes X1 , X 2 , X3 in the moving system of Co-ordinates relative to the fixed system X,

Y, Z. These angles may often be conveniently taken as what are called Eulerian angles.

Since we are here interested only in the angles between the Co-ordinate axes, we may take
the origins of two systems to coin side (see figure).
The moving X1X 2 plane intersects the fixed XY plane in some line ON, called the line of

nodes. The line is evidently perpendicular to both Z and the X 3 - axis. We take its positive

direction as that of the vector product z  x 3 . ( where z and x 3 are unit vectors along the Z

and X 3 axes respectively).

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Chapter 5 AMM302GC4

We take, as the quantities defining the position of the axes X 1 , X 2 and X 3 relative to the

axes X, Y and Z , the angle  between the Z-axis and X 3 - axis, the angle  between the X-

axis and ON, and the angle  between the X 1 axis and ON.

Let us now express the components of the angular velocity vector  along the
moving axes X 1 , X 2 and X 3 in terms of the Eulerian angles and their derivatives.

To do this, we must find the components along these axes of the angular velocities , , .

The angular velocity  is along the line of nodes ON, and its components are 1 =  cos ,


2 =  cos ( + ) = − sin  , 3 = 0 . The angular velocity  is along the Z-axis, its
2
components along the X 3 axis is 3 =  cos  and in the X1X 2 plane  sin  . Resolving the

letter along the X1 and X 2 axes, we have

1 =  sin  sin 

2 =  cos sin  .
Finally the angular velocity  is along the X 3 − axis, its components are,

1 = 0,  2 = 0 &  3 = 
Collecting the components along each axis ( X1 , X 2 & X 3 axis ), We have,

1 =  cos +  sin  sin 

2 = − sin  +  sin  cos

 3 =  cos  +

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Chapter 5 AMM302GC4

A motion of a symmetrical top

A symmetrical top is a rigid body which is a solid of revolution about its axis of symmetry.
Consider the motion of a top spinning about its axis of symmetry with one point on the
symmetry axis is fixed.

Let O (peg) be the fixed point and G be the center of mass of the top is at a distance l from
O. Let us take the axes OX1X2X3 fixed in the body, where OX3 is along the axis of symmetry
of the top. The system of axes fixed in the body is the principal axes of inertia. The
configuration of the top is completely specified by three Eulerian angles  .  and  .
Let us first describe the motion of a top. The top is following three type of motions:

Precession:
Which is rotation about space Z axis such a rotation corresponds to angle  .

Nutation (bobbing up and down):

Which is rotation about intermediate X 1 axis or line of nodes such a rotation corresponds to
angle  .

Spin:
Which is rotation about X 3 axis such a rotation corresponds to angle . The spin velocity
about X 3 axis is  as given by  cos  + 

Let  = (1 ,  2 ,  3 ) be the angular velocity of the top. Then

1 =  cos +  sin  sin 
 2 =  sin  cos −  sin 
 =  cos  + 
3

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Chapter 5 AMM302GC4

Using Lagrangian to find the equation of motion of the top

The kinetic energy of the top is given by

1
T = .I 
2
1
= ( A12 + B 22 + C 32 )
2
1 1
= A(12 +  22 ) + C  32 [ For a symmetrica l top, A = B]
2 2
1 1
= A ( 2 sin 2  +  2 ) + C ( cos  +  ) 2
2 2

The potential energy V = mgl cos 

The Lagrangian of the top is L = T −V

1 1
L = A ( 2 sin 2  +  2 ) + C ( cos  +  ) 2 − mgl cos 
2 2
The Lagrange’s equations of motion are

d  L  L
 − =0 → (a)
dt    
d  L  L
 − =0 → (b)
dt    
d  L  L
 − =0 → (c )
dt    

(a) 
d
dt
( ) ( )
A − A 2 sin  cos  + C ( cos  +  )( − sin  ) + mgl sin  = 0

 A − A 2 sin  cos  + C ( cos  +  ) sin  − mgl sin  = 0 → (1)

d
(b)  ( A sin 2  + C ( cos  +  ) cos  ) = 0 → (2)
dt
(c ) 
d
dt
( )
C ( cos  +  ) = 0 → (3)
Integrating (3) w.r.t t, we get,
C ( cos  +  ) = constant
 cos  +  = constant = n (say ) → ( I )

Integrating (2) w.r.t t, we get,

A sin 2  + C ( cos  +  ) cos  = constant
 A sin 2  + Cn cos  = constant → ( II )

Now differentiate (II) w.r.t t, we get,

Asin 2  + 2 A sin  cos   − Cn sin   = 0 → (4)
(1)  A − A 2 sin  cos  + Cn sin  − mgl sin  = 0 → (5)
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Chapter 5 AMM302GC4

(5)   + (4)    A − A 2 sin  cos   + A sin 2  − mgl sin   = 0
1 d
2 dt
( )
A 2 + A 2 sin 2  + 2mgl cos  = 0
Integrating w.r.t t, we get ,
A 2 + A 2 sin 2  + 2mgl cos  = constant → ( III )

The equations of motion of a top are given by

 cos +  = n → ( I )
A sin 2  + Cn cos  = Constant → ( II )
A 2 + A 2 sin 2  + 2mgl cos  = Constant → ( III )

( II )  A sin 2  + Cn cos  = Constant = k (say )

k − cn cos 
  = → (6)
A sin 2 

( III )  A 2 + A 2 sin 2  + 2mgl cos  = Constant = E (say )

 k − Cn cos  
2

A 2 = E − 2mgl cos  − A sin 2    [by (6)]

 A sin  
2

 E 2mgl cos  (k − cn cos  ) 2

 = −
2
− → (7 )
A A A 2 sin 2 

To facilitate further study of the motion of the top, let us now write  = cos 
d
 =  = − sin  
dt
 2  2
 2 = =
sin 2  (1 −  2 )

 2 E 2mgl (k − Cn ) 2
(7 )  = − − 2
1−  2 A A A (1 −  2 )
( E − 2mgl ) (k − Cn ) 2
 2 = (1 −  2 ) −
A A2
 2 = (1 −  2 )( a − b ) − (d − l ) 2

E 2mgl k Cn
where a = ,b= , d = 2 & l = 2 are constants.
A A A A
Above equation is a cubic equation in  and can vanish for not more than three values of  .
The limit of the variable  is +1 and -1.
A plot of  2 for the case in which there are two distinct roots  1 and  2 between 0 and 1.
The corresponding values of  namely 1 and  2 then the axis of the top oscillates back and
forth between these two values of  as the precession about the vertical.

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Chapter 5 AMM302GC4

If we have a double root, that is, if 1 =  2 , then there is no nutation and the top precesses
steadily.

The motion of a top started with a spin at given angle

The motion of a top started with a given spin velocity‘s’ and with its axis making an angle 
with the vertical.
The initial conditions (at t = 0 ) are,  =  ,  = 0,  = 0 and  = s

( II )  A sin 2  + Cn cos  = Constant

 A sin 2  + Cn cos  = A.0. sin 2  + Cn cos 
A sin 2  + Cn cos  == Cn cos 
Cn (cos  − cos  )
  = → (8)
A sin 2 

( III )  A 2 + A 2 sin 2  + 2mgl cos  = Constant

A 2 + A 2 sin 2  + 2mgl cos  = 2mgl cos  [putting  =  ,  =  = 0 ]

 Cn(cos  − cos  ) 
2

A 2 = 2mgl (cos  − cos  ) − A sin 2   

 A sin 2  

(cos  − cos  ) sin 2  C 2 n 2 (cos  − cos  ) 2

 sin 2   2 = 2mgl −
A A2
Putting C 2 n 2 = 4mglA
2mgl 4mglA
sin 2   2 = (cos  − cos  ) sin 2  − (cos  − cos  ) 2
A A2
2mgl
sin 2   2 = (cos  − cos  ) (sin 2  − 2 (cos  − cos  )).
A

 = 0 when  = 
2mgl
If (cos  − cos  ) (sin 2  − 2 (cos  − cos  )) = 0 then
A

cos  = cos  or sin 2  − 2 cos  + 2 cos  = 0

1 − cos 2  − 2 cos  + 2 cos  = 0
cos 2  − 2 cos  + (2 cos  − 1) = 0
2  4 2 − 4(2 cos  − 1)
cos  =
2
cos  =    − 2 cos  + 1
2

The roots are real but a greater root cos  =  + 2 − 2 cos  + 1 is greater than
 + 2 + 1 − 2.

 cos  =  − 2 + 1 − 2 cos 

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Chapter 5 AMM302GC4

Example (1):
6mglA
A top is given a spin‘s’ about its axis, where s 2 = and its axis initially held an angle
C2
3 1 3
cos −1   to the vertical and then released show that in the subsequent motion  cos  
4 2 4
.
Solution:
The equation of motion of a top is given by

 cos  +  = n → (1)
A sin 2  + Cn cos  = constant → (2)

A 2 + A 2 sin 2  + 2mgl cos  = constant → (3)

3
Initially at t = 0 ,  = cos −1  ,  = 0 ,  = 0 and  = s
4
(1)   = n [ = 0] 
s=n
3 3
(2)  constant = 0 + C n. = C s.
4 4
3C s
 A sin 2  + C s cos  =
4
3 
C s  − cos  
 = 4  → (4)
A sin 
2

3
(3)  A 2 + A 2 sin 2  + 2mgl cos  = 2mgl. 
4
2
3 
C 2 s 2  − cos  
3  4 
A 2 = 2mgl  − cos   −
4  A sin 
2

If  = 0
 3 
 C 2 s 2  − cos   
3  4  = 0
then  − cos    2mgl −
 4   A sin 
2 
 
 
3 3 
 cos  = or C 2 s 2  − cos   − A(1 − cos 2  )2mgl = 0
4 4 
C 6mglA  3
2

 − cos   − 2mglA (1 − cos  ) = 0
2

 
2
C 4

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Chapter 5 AMM302GC4

3 
3  − cos   − (1 − cos 2  ) = 0
4 
5
cos 2  − 3 cos  + = 0
4
4 cos  − 12 cos  + 5 = 0
2

(2 cos  − 1) (2 cos  − 5) = 0
1 5
cos  = or cos  = 1 contradiction
2 2
1 3
  cos  
2 4

Example (2):
A top is free to turn about a point O on the axis of symmetry under the action of the gravity
and m is the mass, l is the distance from the center of the gravity to the point O and A, C are
the principal moment of inertia about O. If  is the inclination of the axis to the upward
vertical, show that
Cn mgl
x 2 = 2q(a − x)(1 − x 2 ) − p 2 ( x − b) 2 , where x = cos  , p = ,q = and n, a, b
A A
depend on the initial circumstances of projection. If initially the axis is in the horizontal plane
and is set rotating with an angular velocity ω in the horizontal direction, prove that the axis
will start to rise, if ωp >q. Prove also that if ωp = 2q and ω < p then the axis will rise an angle
 
distance cos −1   from the vertical and will then be at instantaneous rest.
 p