ME 302 DYNAMICS OF

MACHINERY

Lagrangian Mechanics
Dr. Sadettin KAPUCU

1
2007 Sadettin Kapucu
 Introduction to Balancing
Lagrange-Euler Formulation
d L L
( ) i
dt q i qi
Lagrange function is defined

L K P
K: Total kinetic energy of the system

P: Total potential energy of the system

: Joint variable of i-th joint

qi
: first time derivative of

q :i Generalized force (torque) atqii-th joint
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 Example
Derive the force-acceleration relationship for the one x
degree of freedom system shown in figure using both
k
Lagrangian mechanics, as well as Newtonian m f(t)
mechanics. Assume that the wheels have negligible
inertia.

1 2 1 2
Kinetic energy of the cart K mv mx
2 2
1 2 1 2 1 2
Potential energy of the cart P kx L K P mx kx
2 2 2
L d L L
mx mx kx
x dt x x

x kx
mxm kx f f tt
d L L

dt q i qi
i
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 Example
Derive the force-acceleration relationship for the one x
degree of freedom system shown in figure using both
k
Lagrangian mechanics, as well as Newtonian m f(t)
mechanics. Assume that the wheels have negligible
inertia.

W mg

Freebody diagram of the cart Fs kx m f(t)

F ma NA NB

F x ma x f (t ) kx mx
mx kx f t
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 Example
Derive the force-acceleration relationship for the two x
degree of freedom system shown in figure using both
k
Lagrangian mechanics, as well as Newtonian m1 F
mechanics. Assume that the wheels have negligible
inertia.

In this problem, there are two degrees of freedom, two

coordinates x and , and there will be two equation of motion: l
one for linear motion of the system and one for the rotation of
the pendulum.
1 1
m2 x
K K cart K pendulum m1Vcart m2V pen
2 2

2 2
Vcart x

V pen ? V pen Vcart V pen Vcart x i
cart


V pen l cos i l sin j
cart
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 Example
x
1
2
2 1
2

K m1 m2 x m2 l 2 2 2lx cos k
m1 F
P Pspring Ppendulum
1 2
Pspring kx
2
h l 1 cos h
Ppendulum m2 gh m2

Ppendulum m2 gl 1 cos
1 2
P kx m2 gl 1 cos
2

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 Example
x
1 1 k
K K cart K pendulum m1Vcart
2
m2V pen
2
m1 F
2 2
Vcart x

V pen ? V pen Vcart V pen Vcart x i
cart
l
V pen l cos i l sin j
cart x



m2

V pen x l cos i l sin j
x l cos l sin x 2
2 2 2
V 2
pen
Vcart
1 1
2
K m1 x m2 x l cos l sin
2
2

2

2

1 1

K m1 m2 x 2 m2 l 2 2 2lx cos
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 Example
x
k
m1 F
1 1

K m1 m2 x m2 l 2 2 2lx cos
2
2

2


1 2
P kx m2 gl 1 cos m2
2

L K P

1
2
2 1
2

1 2
2

L m1 m2 x m2 l 2lx cos kx m2 gl 1 cos
2 2

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 x
Example k
m1 F

d L L
( ) i
dt q i qi

1 1
1 2 m2
L m1 m2 x m2 l 2lx cos kx m2 gl 1 cos
2 2 2
2 2 2
L
m1 m2 x m2l cos
x
d L
m1 m2 x m2l cos m2l sin
2

dt x
L
kx
x
F m1 m2 x m2l cos m2l 2 sin kx
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 x
Example k
m1 F

d L L
( ) i
dt q i qi

1 1
1 2 m2
L m1 m2 x m2 l 2lx cos kx m2 gl 1 cos
2 2 2
2 2 2
L
m2l 2 m2lx cos

d L
m2l m2lx cos m2lx sin
2

dt
L
m2 gl sin m2lx sin

0 m l 2 m lx cos m gl sin
2 2 2
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 Example x
k
m1 F

d L L
( ) i
dt q i qi

F m1 m2 x m2l cos m2l 2 sin kx m2

0 m l 2 m lx cos m gl sin
2 2 2

F m1 m2 m2l cos x 0 m2l sin x 2 kx

0 m l cos
m2l 0
0
2


2
2 2 m gl sin

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 Example
Derive the force-acceleration relationship for the two x
degree of freedom system shown in figure using both
k
Lagrangian mechanics, as well as Newtonian m1 F
mechanics. Assume that the wheels have negligible
inertia.
m1 g y

Fx x
Freebody diagram of the cart Fs kx m F
m2

NA Fy N B

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 Example
Derive the force-acceleration relationship for the two x
degree of freedom system shown in figure using both
k
Lagrangian mechanics, as well as Newtonian m1 F
mechanics. Assume that the wheels have negligible
inertia.
m1 g y

Fx x
Freebody diagram of the cart Fs kx m F

Fx m2

Fy N
Fy NA B

Freebody diagram of the pendulum

n

t

m2
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 Example

x
k
m1 F
Velocity analysis

Vcart x i

V pen ? V pen Vcart V pen

cart
m2

V pen l cos i l sin j
cart


V pen x i l cos i l sin j

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 Example

x
k
Acceleration analysis m1 F

acart x i x sin n x cos t

a pen ?

n t
a pen acart a pen acart a pen a pen m2
cart cart cart
2
a pen l n l t
cart

2

l cos l sin i l sin l cos j
2

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 Example
x
k
m1 F

acart x i m1 g y
Equations for the cart using x-y
Fx x
Fs kx m1
O
F m2

x axis : F Fx kx m1 x
N A Fy NB

y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B
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 x
Example k
m1 F

Fx

2

a pen l x sin n l x cos t Fy

m2
n

Equations for the pendulum using n-t t

m2
m2 g

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2

t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0
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 x
Example k
m1 F

x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0
m2
moment : N A d A N B d B 0 where d A d B

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2

t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0
Fx cos Fy sin

m2 g sin m2 x cos l
m x cos
2
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2 l m g sin 0
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 x
Example k
m1 F

x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B m2

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2
2 y x 2
t axis : m g sin F sin F cos m x cos l
moment : Fx l cos Fy l sin 0
Fx cos
Fx cos Fy sin Fy
sin
Fx cos 2
m2 g cos
sin University
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Fx sin m2 x sin l 2
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 x
Example k
m1 F
x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B m2

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2

t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0
Fx cos 2
m2 g cos
sin

Fx sin m2 x sin l 2
Fx cos 2
sin m2 g cos
Fx sin m2 x sin l 2 sin
sin University
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 x
Example k
m1 F
x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B m2

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2

t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0
Fx cos 2
sin m2 g cos
sin

Fx sin m2 x sin l 2 sin

m g cos sin F cos 2 F sin 2 m x sin 2 m l 2 sin
2 x x 2 2

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m2 g cos sin Fx cos 2 sin 2 m2 x sin 2 m2l 2 sin21
 x
Example k
m1 F
x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B m2

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2


t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0

m2 g cos sin Fx cos 2 sin 2 m2 x sin 2 m2l 2 sin
m2 g cos sin Fx m2 x sin 2 m2l 2 sin
Fx m1 x kx F
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 x
Example k
m1 F
x axis : F Fx kx m1 x
y axis : m1 g Fy N A N B 0

moment : N A d A N B d B 0 where d A d B m2

n axis : m2 g cos Fy cos Fx sin m2 x sin l 2

t axis : m2 g sin Fy sin Fx cos m2 x cos l
moment : Fx l cos Fy l sin 0

m2 g cos sin Fx cos 2 sin 2 m2 x sin 2 m2l 2 sin
m g cos sin m x kx F m x sin 2 m l 2 sin
2 1 2 2

m1 x m2 x sin 2 kx m2l 2 sin m2 g cos sin F

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 Example
x

Example k
m1 F

m2 x cos m2l m2 g sin 0

m1x m2 x sin 2 kx m2l 2 sin m2 g cos sin F
m2

0 m2l 2 m2lx cos m2 gl sin

F m1 m2 x m2l cos m2l 2 sin kx

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 Example y

Derive the Equation Of Motion (EOM) for the two x

degree of freedom system shown in figure using
Lagrangian mechanics.
l1

1 1
K K1 K 2 m1V1 m2V22
2
1 m1
2 2
Position of the first mass l2

x1 l1 sin 1 2
m2
y1 l1 cos 1
Velocity of the first mass
x 1 l11 cos 1
y l sin
} V12 x 12 y 12 l1212 cos 2 1 l1212 sin 2 1
V l
1 1 1 1 2 2 2
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1 1
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 Example y

1 1
V l
x
K K1 K 2 m1V1 m2V22
2 2 2 2
2 2 1 1 1
Position of the second mass l1

x2 l1 sin 1 l2 sin 1 2 l1S1 l2 S12

1 m1
y2 l1 cos 1 l2 cos1 2 l1C1 l2C12
Velocity of the second mass l2

x 2 l11C1 l2 1 2 C12 2
m2

y 2 l1S11 l2 1 2 S12
V22 x 22 y 22

l1212 l22 12 22 212 2l1l2 12 12 C1C12 S1S12

V22 l1212 l22 12 22 212 2l1l2C2 12 12
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 Example y

1 1 x
K K1 K 2 m1V12 m2V22
2 2
l1
1
K m1l1212 1 m1
2
1

m2 l1212 l22 12 22 212 2l1l2C2 12 12
2
l2

2
P P1 P2 m2

P1 m1 gl1C1
P2 m2 gl1C1 m2 gl2C12
P m1 m2 gl1C1 m2 gl2C12
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 Example y

L K P x

L m1 m2 l1 1 m2l22 12 22 212
1 2 2 1
l1
2 2
m2l1l2C2 12 12 m1 m2 gl1C1 m2 gl2C12 1
m1

L
1

m1 m2 l121 m2l22 1 2 2m2l1l2C21 m2l1l2C22 l2

2
m2
d L

dt 1

m1 m2 l121 m2l22 1 2 2m2l1l2C21 2m2l1l2 S 212

m2l1l2C22 m2l1l2 S 222

L
m1 m2 gl1 S1 m2 gl2 S12
1
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 Example y

d L L
( ) i x
dt q i qi
l1
L
1

m1 m2 l121 m2l22 1 2 2m2l1l2C21 m2l1l2C22
m1
1

d L

dt 1

m1 m2 l121 m2l22 1 2 2m2l1l2C21 l2

2
2m2l1l2 S 212 m2l1l2C22 m2l1l2 S 222 m2

L
m1 m2 gl1 S1 m2 gl2 S12
1

0 m1 m2 l12 m2l22 2m2l1l2C2 1 m2l22 m2l1l2C2 2 2m2l1l2 S 21 2
m l l S 2 m m gl S m gl S
2 1 2 2 2 1 2 1 2 2 2 12
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 Example y

L K P x

L m1 m2 l1 1 m2l22 12 22 212
1 2 2 1
l1
2 2
m2l1l2C2 12 12 m1 m2 gl1C1 m2 gl2C12
m1
1

L
2
m2 l 2
2
1 2
m l l C
2 1 2 2 1
l2

2
m2
d L

dt 2

m2l22 1 2 m2l1l2C21 m2l1l2 S 21 2

L
2

m2l1 l2 S 2 12 1 2 m2 gl2 S12

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 Example y

d L L
( ) i x
dt q i qi
l1
L
2
m2 l 2
2
1 2
m l l C
2 1 2 2 1
1
m1

d L

l2
m2l22 1 2 m2l1l2C21 m2l1l2 S 21 2
dt 1 2
m2

L
1

m2l1 l2 S 2 12 1 2 m2 gl2 S12

0 m2l22 m2l1l2C2 1 m2l222 m2l1l2 S 212 m2 gl2 S12

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 Example y

x
0 m1 m2 l m l 2m2l1l2C2 1 m l m2l1l2C2 2
1
2 2
2 2
2
2 2

2m2l1l2 S 21 2 m2l1l2 S 222 m1 m2 gl1S 2 m2 gl2 S12

l1

m1
1

0 m2l22 m2l1l2C2 1 m2l222 m2l1l2 S 212 m2 gl2 S12
l2

0 m1 m2 l12 m2l22 2m2l1l2C2 m2l22 m2l1l2C2 1 2

m2
0
m2l2 m2l1l2C2 2
2 2
m2l2
0 m2l1l2 S 2 12 m2l1l2 S 2 m2l1l2 S 2 12
2
m l l
212 2S 0
2 0 0 21
m1 m2 gl1S1 m2 gl2 S12

m gl S
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 Example

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 Example

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 Example

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