1A uniform hoop of mis m and radiis r rolls without sipping on a fixed evlinder of reading A as shown in figure, The only escternal farce is that of gravity, Uf the smaller cylinder starts rolling from rest on top of the bigger cylinder, use the nethod of Lagrae roultipliers te fied tie paimt at which the boop falls off ‘Pwo equations of constraint: por+R rie-6) = Re My genorallsal codniinites are p; 0, and d& The Bit equation cones fon ‘the fact that as long as the hoop is touching the ovlinder the center of mass of the hoop is exactly r+ 2 away trom the cemter of the evliuder, Pu calling it fy. The second one cones from no slipping: ro=e = wm (Rire re—rd = Re™@- 6) =a Where 4 is the angle p mbes with the vertical and @ is the angler males with the vertical, I'm calling thie eepmation fa. fi=p—r-R=0 fx= RA —-rh a rH =0 The Lagrangian if —V wlicne Tis this Winotic enesgy'af the hoop dbont the cylinder and the kinetic energy of the hoop abuvit its centor af mus. The potential energy is the beight above the center of the eytinder. Therefare b= Sip? +p + 2H) — mapecnd Solving for the equations of motion: Hab WE yoy he aap Op "Op oi nal mp cna ae th mh — mpé + mg cos = Ay ih) dd ab ap aa = Le Sian) ~ (-tgpsing) at mp'é +: mppr+ mypsin# = (0) + dof +r) myFé + 2mpjié + mop sin? = AU +r) (2) a ib Ob 54 ah 7 daa ae Be dias _, of fz qld) -0= Mae + mrtg =m — Agr (3) 1 want the angle # This will tell me the point that the hoop drape off the eylindea. So fm going to apply the constraints to my equations af motion, Attempt to get an equation for #, and then set A) equal to aro becuse that will be when the fore of the eylinder an the hoop is sere. This will tell me the value of #. Looking for an oqjuation ini terms of only @ and A, will pot ine in the right position. The constraints tell mo:mrtg = — gr i Ma {= ) Solving (2) using the eoustraiuts, m( R408 + mgsin? = de _ Aroomg sind + rp 6) Setting (4) = (5) —Aa = Ag — mg sin? -™ dy = Fane (6) Plugging (6) into (4) yields « different.al equation for & j= ——4 sind +1 Rs) If I solve this for & 1 cam place it in equation of motion (1) and have an expression in terms af @ and Ay, This differential equation can be salved by trying, this: P= A+ Bed ‘Taking the derivative. 208 — —Bsin od a. _ #= Fane Thus 4 Be - Ror From initial conditions, @ = 0, #=0 at t= ( we hive A woTheretawe a 7 @ =a a Now we are ina position to plug this into equation of motion (1) and have tlie ecquuativt in terms of @ and Aa a4 Ree Ree —m(R+ vf eun8) + mgeon # = Ay Wig +2mgeund = Ay my(2ea8d — 1) = Ay Setting the foree of eanstraltit eyual to aero will give us the angle that the hoop no longer feels « foree from the eylinder: 2ea%—l=0 cosy = $+ fy =r With our origin at the center of the cylinder, the height that the center af tits of the hoop falls off is I Hoo = peer") = rid Or if vail prefer the hei; i that the hoop's stirface stops contact with evlin-