F07HW8 Taylor 11.14

PHYSICS 110A : CLASSICAL MECHANICS
HW 8 SOLUTIONS
(1) Taylor 11.14

For our generalized coordinates we will take the angles 1 and 2 .
Figure 1: Figure for 11.14.
This leads to a kinetic energy of:

T =
1
mL2 [ 21 + 22 ].
2
And the potential term will be:

U
1 2
kL [2 1 ]2 + mgL[2 cos 1 cos 2 ].
2
Where we have assumed the springs x goes as L since we are dealing with small oscillations. Substituting in for cos = 1 2 /2 + ... we get:
U
mgL 2
1 2
kL [2 1 ]2 +
[1 22 ].
2
2
From this we build T and V matrices as:
T = mL
And:
V = mL2
Where we can rewrite as:
1 0
0 1
g/L + k/m
k/m
k/m
g/L + k/m
V = mL2
02 + 02
02
2
2
0 + 02
0
Where 02 = k/m and 02 = g/L.
Using det[ 2 T V ] = 0 we find eigenvalues of 1 = 0 and 2 =
02 + 202 .
These eigenvalues lead to un-normalized eigenvectors of:

1
1 =
,
1
And:
2 =
1
1
From these you can see 1 is the mode where the masses oscillate in phase with each other
(this makes sense because if the masses are in phase the spring is not compressed and we
see is not in the expression for 1 ), and 2 is the mode where the masses oscillates out
of phase with each other.
(2) Taylor 11.19

For our generalized coordinates we will take x and .

1
1
T = (m0 + M )x 2 + mL2 2 + M L x cos .
2
2
Where for small angles we have:
1
1
T (m0 + M )x 2 + M L2 2 + M L x.
2
2
The potential term will be:
1
U = kx2 + M gL[1 cos ].
2
Where for small angles we have:
M gL2
1
.
U kx2 +
2
2
T =
(m0 + M ) M L
ML
M L2
And:
V =
k
0
0 M gL
From the values given for constants we can rewrite as:

2 1
T =
1 1
And:
V =
2 0
0 1
Using det[ 2 T V ] = 0 we find eigenvalues of 1 =
2 and 2 =
2+
2.

0.382
1 =
,
0.541
And:
2 =
0.923
1.30
From these you can see 1 is the mode where the masses oscillate in phase with each other,
and 2 is the mode where the masses oscillates out of phase with each other.
(3) Taylor 11.29

For our generalized coordinates we will use r and which mark the location of the center
of mass of the rod and which is the angle of the rod with respect to the horizontal as in
figure (3).
So our kinetic energy will be:
1
1
1
T = mr 2 + mr 2 2 + I 2 .
2
2
2
Plugging in for the moment of inertia of a rod about its center of mass we have:
1
1
1
T = mr 2 + mr 2 2 + mb2 2 .
2
2
6
Now the potential is a bit hairier and we will assume small angles from the outset.
1
r
Springs

For small angles we will call the x for spring (1) as L1 = r + b and x for spring
(2) as L1 = r b.
So the potential due to the springs will be:
U=
1
1
k(r b L0 )2 + k(r + b L0 )2 .
2
2
Where L0 is the rest length of the spring.

Now the potential due to gravity is:
U = mgr cos .
So altogether we have:
1
1
U = k(r b L0 )2 + k(r + b L0 )2 mgr cos .
2
2
We will make the approximations cos 1 2 /2 and r = r0 + . This leads us to:
1
U = mgr0 + mgr0 2 mg + k((r0 L0 ) + )2 + k(b2 ).
2
Which can be reduced to:
1
U = mgr0 + mgr0 2 mg + k2 + k(r0 L0 )2 + 2k(r0 L0 ) + k(b2 ).
2
Finally we realize that at equilibrium the force up from the springs is equal to gravity. So
from Newtons second law we have the relationship:
mg = 2k(r0 L0 ).
So the terms linear in cancel and we have (dropping all constants):
1
U = mgr0 2 + k2 + k(r0 L0 )2 + k(b2 ).
2
m
0
T = 0 mr02
0
0
And:
0
0
1
2
3 mb
2k
0
0
V = kR2 0 mgr0
0
0
0
2kb2
Since these are diagonal det[ 2 T V ] = 0 lead us to three equations:

2 m = 2k,
2 mr02 = mgr0 ,
and:
1
2 mb2 = 2kb2 ,
3
q
q
g
2k
(for
the
r-coordinate),
=
Which lead to eigenvalues of 1 =
2
m
r0 (for the q
coordinate), and 3 = 6k
m (for the -coordinate).
(4) Taylor 11.31

For our generalized coordinates we will take the three angles 1 , 2 , and 3 .

T =
1
mR2 [2 21 + 22 + 23 ].
2
And the potential term will be:

1
U = kR2 [(1 2 )2 + (2 3 )2 + (3 1 )2 ].
2
2 0 0
T = mR2 0 1 0
0 0 1
And:
2 1 1
V = kR2 1 2 1
1 1 2
Using det[ 2 T V ] = 0 we find eigenvalues of 1 = 0, 2 =
20 , and 3 = 30 .

1
1 = 1 ,
1
1
2 = 1 ,
1
And:
0
2 = 1 .
1
From these you can see 1 is the mode where the three masses rotate around at some
constant velocity, 2 is the mode where the first mass oscillates out of phase with the other
two masses, and 3 is the mode where mass 1 doesnt oscillate and the other two masses
oscillate out of phase with each other.
Professor Arovas has added some notes in section 10.6.1 of his lecture notes on an alternate
technique to solve this problem.
8. Taylor 11.32
Set m = k = 1 for now (and restore 0 =
= M/m. Then
k/m on dimensional grounds) and take
1 2
1
0
K 2 M = 1
1 2
1 .
0
1
1 2
p
The frequencies are then 0, 0 , 0 (2 + )/. The corresponding displacements are
a = 1,
1
1
0 ,
1
1
2/ .
1

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PHYSICS 110A : CLASSICAL MECHANICS

(1) Taylor 11.14

Figure 1: Figure for 11.14.

This leads to a kinetic energy of:

And the potential term will be:

From this we build T and V matrices as:

Where 02 = k/m and 02 = g/L.

Using det[ 2 T V ] = 0 we find eigenvalues of 1 = 0 and 2 =

These eigenvalues lead to un-normalized eigenvectors of:

(2) Taylor 11.19

Figure 2: Figure for 11.19.

From this we build T and V matrices as:

From the values given for constants we can rewrite as:

Using det[ 2 T V ] = 0 we find eigenvalues of 1 =

These eigenvalues lead to un-normalized eigenvectors of:

(3) Taylor 11.29

Figure 3: Figure for 11.29.

Where L0 is the rest length of the spring.

From this we build T and V matrices as:

Since these are diagonal det[ 2 T V ] = 0 lead us to three equations:

(4) Taylor 11.31

Figure 4: Figure for 11.31.

This leads to a kinetic energy of:

And the potential term will be:

Using det[ 2 T V ] = 0 we find eigenvalues of 1 = 0, 2 =

These eigenvalues lead to un-normalized eigenvectors of:

k/m on dimensional grounds) and take

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