Lecture 25

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Previous lecture was about
Lagrangian Mechanics
Hamiltonian Mechanics
Hamilton-Jacobi Equations
Applications of Hamiltonian-Jacobi Equations

Hamiltonian as Total Energy
To provethat Hamiltonian is equals to the total energy of the
system, we know that
But in Lagrangian mechanics

Since
So
which is the total energy of the system.

Note:
A necessary and suffcient condition for the quantity to be

the total energy of a system whose Lagrangian is written in
terms of a set of coordinates is that these are related to a
Cartesian set of coordinates via expressions of the form,
That is, there is no or dependence.

Example 1 (Particle in a plane):
A particle of mass moves in a horizontal plane. It is connected

to the origin by a spring with spring constant and relaxed
length zero (so the potential energy is ), as shown in Figure.
Find and in terms of

Cartesian coordinates,
and then also in terms of
polar coordinates. Verify
that in both cases, is the
energy and it is
conserved.

Solution: In Cartesian coordinates, we have
In polar coordinates, we have
And so
which is again the energy. As mentioned above, the

Cartesian-coordinate is always the energy. The fact that the
polar-coordinate is also the energy is consistent with
energy in Cartesian coordinates, because the Cartesian
coordinates are functions of the polar coordinates:
and . In both cases, is conserved because has no explicit
dependence.
Example 2 (Bead on a rod):
A bead of mass is constrained to move along a massless rod

that is pivoted at the origin and arranged (via an external
torque) to rotate with constant angular speed in a horizontal
plane. A spring with spring constant and relaxed
length zero lies along the rod
and connects the mass to the
origin, as shown in Figure. Find
and in terms of the polar
coordinate , and show that is
conserved but it is not the
energy.
Solution:The kinetic energy comes from both radial and
tangential motion, so the Lagrangian is
E is then
Since has no explicit dependence, thus is conserved.

However, is not the energy, due to the minus sign in front of
the term. This is consistent with the above discussion,
because the relations between the Cartesian coordinates and
the coordinate (namely and ) involve and are therefore not
dependent on t.
Example 3 (Accelerating rod):
A bead of mass is constrained to move on a horizontal rod

that is accelerated vertically with constant acceleration , as
shown in Figure. Find and in terms of the Cartesian
coordinate . Is conserved? Is the energy?
Solution: Since and the Lagrangian is
is not conserved, due to the explicit dependence in .

Also, is not the energy, due to the minus sign in front of
the term. This is consistent with the fact that the
transformations from the single coordinate along the
rod, , to the two Cartesian coordinates are and , and the
latter involves .
Remarks:
In this third example, the dependence in the

transformation between the two sets of coordinates (which
caused to not be the energy) in turn brought about the
dependence in (which caused to not be conserved).
However, this “bringing about" isn't a logical necessity, as
we saw in the second example above. There, the t
dependence in the transformation didn't show up in ,
because all the 's canceled out in the calculation of , leaving
only .
Theabove three examples cover three of the four possible
permutations of equalling or not equalling the energy,
and being conserved or not conserved. An example of the
fourth permutation (where E is the energy, but it isn't
conserved) is the Lagrangian
This yields
which is the energy. But isn't conserved, due to the

dependence in .
Simple Harmonic Oscillator
Forany periodic motion, there exists a position of the

particle for which the next force acting on the particle is
zero. This is the equilibrium pendulum.
Let denote this position. We now consider the one-

dimensional periodic motion of the particle about this
position. If we assume that the displacement is small, the
potential energy function can be approximately taken to
be equal to the first term in its Taylor series expension
about the equilibrium position, i.e.,
The Taylor series expansion of the function is given by
Since has minimum value at , so Therefore
But is the potential energy in the equilibrium position and can

be chosen to be equal to zero, so
Substituting this , the series become
Under the assumption the displacement is small, we may

have
Since for stable equilibrium, the potential energy in the
position must be minimum, must be positive, and is also
positive. We further simplify the problem by shifting the origin
at
With this approximation, the force acting on the particle at any

point is given by
But, by Newton’s second law of motion, the equation of

motion of the particle is given by
To solve this equation, it can be rewritten as
When is maximum, i.e., when Therefore

Substituting this value of in equation, we have
Which is the velocity of the particle in terms of its

displacement.
Again
Let
Taking the initial condition, when
Therefore
Which gives the displacement of the particle in a sinusoidal

oscillation and has period
And frequency
We
could also take the initial condition:
When
Now the kinetic energy of an oscillator at any instance is given

by
Therefore the maximum kinetic energy of the oscillator

Now the potential energy of the oscillator at any instant
is given by
Therefore the maximum potential energy of the

oscillator is
Thus total energy is

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Revision

Previous lecture was about

Applications of Hamiltonian-Jacobi Equations

But in Lagrangian mechanics

which is the total energy of the system.

A necessary and suffcient condition for the quantity to be

That is, there is no or dependence.

A particle of mass moves in a horizontal plane. It is connected

Find and in terms of

which is again the energy. As mentioned above, the

A bead of mass is constrained to move along a massless rod

Since has no explicit dependence, thus is conserved.

A bead of mass is constrained to move on a horizontal rod

is not conserved, due to the explicit dependence in .

In this third example, the dependence in the

which is the energy. But isn't conserved, due to the

Forany periodic motion, there exists a position of the

Let denote this position. We now consider the one-

Since has minimum value at , so Therefore

But is the potential energy in the equilibrium position and can

Substituting this , the series become

Under the assumption the displacement is small, we may

With this approximation, the force acting on the particle at any

But, by Newton’s second law of motion, the equation of

When is maximum, i.e., when Therefore

Which is the velocity of the particle in terms of its

Which gives the displacement of the particle in a sinusoidal

Now the kinetic energy of an oscillator at any instance is given

Therefore the maximum kinetic energy of the oscillator

Therefore the maximum potential energy of the

Thus total energy is

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