COMSATS University

Islamabad

Assignment # 3

Name : Abuzar Ghaffari

Registration no: Fa17-Bsm-004
Subject: Analytical Dynamics
Submitted to : Dr. Baber Ahmed
Date : Nov 27, 2019
 Question#1

Use the Hamiltonian method to find the equations of motion of a particle of mass
𝑚 constrained to move on the surface of a cylinder defined by 𝑥 2 + 𝑦 2 = 𝑅2 . The
particle is subject to a force directed toward the origin and proportional to the
distance of the particle from the origin:𝐹 = −ℎ𝑟

Solution:

a) Figure:

b) Constraint:

c) Position Vector:

𝑟⃗ = 𝑅𝑟̂
d) Velocity
𝑣 = 𝑅2 𝑟̂ + 𝑅 2 𝜃̇ 2 𝜃̂ + 𝑧̇ 2 𝑧̂
And the magnitude is
𝑣 2 = 𝑅2 𝜃̇ 2 + 𝑧̇ 2
e) Acceleration:

f) Kinetic Energy:
Kinetic energy
1
𝑇 = 𝑚(𝑅 2 𝜃̇ 2 + 𝑧̇ 2 )
2
g) Potential Energy:
1
𝑈 = 𝑘𝑟 2
2
 1
= 𝑘(𝑥 2 + 𝑦 2 + 𝑧 2 )
2
1
= 𝑘(𝑅 2 + 𝑧 2 )
2
h) Lagrangian Function :

We may now write the Lagrangian as

𝐿 =𝑇−𝑈
1 1
𝐿 = 𝑚(𝑅 2 𝜃̇ 2 + 𝜃̇ 2 ) − 𝑘(𝑅2 + 𝑧 2 )
2 2

i) Lagrangian Equation
𝑑 𝜕𝐿 𝜕𝐿
( ) − 𝜕𝜃 = 0
𝑑𝑡 𝜕𝜃̇
(4)

𝑑 𝜕𝐿 𝜕𝐿
( ) − 𝜕𝑧 = 0
𝑑𝑡 𝜕𝑧̇
(5)

𝜕𝐿 𝜕 1 1
= [ 𝑚(𝑅2 𝜃̂ 2 + 𝑧̇ 2 ) − 𝐾(𝑅2 + 𝑧 2 )] = 0
𝜕𝜃 𝜕𝜃 2 2

𝜃 is ignorable coordinate
𝜕𝐿
= 𝑚𝑅 2 𝜃̇
𝜕𝜃̇

𝑑 𝜕𝐿
(
𝑑𝑡 𝜕𝜃̇
) = 𝑚𝑅2 𝜃̈ (6)

𝜕𝐿
= −𝑘𝑧 (7)
𝜕𝑧

𝜕𝐿
= 𝑚𝑧̇
𝜕𝑧

𝑑 𝜕𝐿
( ) = 𝑚𝑧̈
𝑑𝑡 𝜕𝑧̇
(8)

Put equation (6) in (4) we get,

𝑚𝑅2 𝜃̈ = 0 (9)

And

Put equation (7) and (8) in equation (5) we get,

 𝑚𝑧̈ + 𝑘𝑧 = 0 (10)

j) Generalized momentum :

The generalized coordinates are 𝜃 and z, the generalized momenta are

𝜕𝐿
𝑝𝜃 = = 𝑚𝑅2 𝜃̇ (11)
𝜕𝜃̇

𝜕𝐿
𝑝𝑧 = = 𝑚𝑧̇ (12)
𝜕𝑧̇

k) Hamiltonian Function:
Because the system is conservative and because the equations of
transformation between rectangular and cylindrical coordinates do not
explicitly involve the time, the Hamiltonian H is just the total energy
expressed in terms of the variables 𝜃 , 𝑝𝜃 , z, and 𝑝𝑧 . But 𝜃 does not occur
explicitly, so
𝐻(𝑧, 𝑝𝜃 , 𝑝𝑧 ) = 𝑇 + 𝑈
𝑝𝜃 2 𝑝𝑧 2 1
= 2
+ + 𝑘𝑧 2 (13)
2𝑚𝑅 2𝑚 2
1 2
Where the constant term 𝑘𝑅 has been suppressed.
2
l) Hamiltonian Equation:

The equations of motion are therefore found from the canonical equations:
𝜕𝐻
𝑝̇𝜃 = =0 (14)
𝜕𝜃

𝜕𝐻
𝑝̇𝑧 = − = −𝑘𝑧 (15)
𝜕𝑧

𝜕𝐻 𝑝𝜃
𝜃̇ = = (16)
𝜕𝑝𝑧 𝑚𝑅 2

𝜕𝐻 𝑝𝑧
𝑧̇ = = (17)
𝜕𝑝𝑧 𝑚

Equation (15) and (17) are Hamiltonian equation of motion.

𝑝𝜃 = 𝑚𝑅2 𝜃̇ = Constant