COMSATS University

Islamabad

Assignment # 2

Name Abuzar Ghaffari

Registration no. Fa17-Bsm-004
Subject Analytical Dynamics
Submitted to Dr. Baber Ahmed
Dated 15-Nov-2019

1
 Question
A bead is free to slide along a frictionless hoop if radius R .The hoop
rotates with constant angular speed 𝜔 around a vertical diameter.
At any time t, the particle is at point p. Discuss the following points of
the system in detail.
Figure:

Figure 1: vertically rotating hoop

Constraints in the system:
We consider the motion in polar coordinates the radius of the hoop
is the constraints in the system. So r=1
Degree of freedom:
Dof= N-r
N= coordinates & r=constraints
The system is polar coordinates so,
N=2
Dof= 2-1=1

2
Positon vector:
𝑟̂ = R𝑟̂
Velocity:

v⃗⃗⃗1 = R θ̇ θ̂
Acceleration:
𝑣⃗⃗⃗⃗1 = R 𝜃̇ 𝜃̂
⃗⃗⃗⃗1
𝑑𝑣 𝑑 𝑑
= R 𝜃̇ 𝜃̂ + R 𝜃̂ 𝜃̇
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑
⃗⃗⃗ = R 𝜃̇
𝑎 𝜃̂ + R 𝜃̂ 𝜃̈
𝑑𝑡

Kinetic Energy:
Kinetic energy of the bead due to its motion the hoop is
1
T1 = m v1 2
2
1
T1 = m R 2 𝜃̇ 2
2
Speed:
v2 = ρω
Where ρ is the distance of mass from the vertical axis,
ρ = Rsin θ
Hence speed of hoop is
v2 = Rωsin θ
The K.E of the bead due to the rotation of the hoop is,
1
T2 = m v2 2
2
1
T2 = m R 2 ω 2 sin2 θ
2
The K.E of the system is
T = T1 + T2

3
 1 1
𝑇= m R 2 θ̇ 2 + m R 2 ω 2 sin2 θ ------------ (1)
2 2

Potential Energy:
Considering OA axis as the zeroth level of P.E then distance of
mass from OA axis is,
h= R cos𝜃
------------- (2)
U= - mg R cos𝜃
Hamilton’s Equations of Motion:
The Lagrange function is,
L=T–U ------------ (3)

Using equation (1) and (2) in (3), we get

1 1
𝐿= m R 2 θ̇ 2 + m R 2 ω 2 sin2 θ + mg R cosθ ------------- (4)
2 2
∂L
= mR2 θ̇ ------------- (5)
∂θ̇

Here θ is the only generalized coordinate and θ and 𝜃̇ are

independent variables. The Hamiltonian is
----------- (6)
H=T+U
Using equation (1) and (2) in (6), so we get
1 1
H= m R 2 θ̇ 2 + m R 2 ω2 sin2 θ − mg R cosθ ------------- (7)
2 2

The generalized momentum 𝑝𝜃 is

𝜕𝐿 --------- (8)
𝑝𝜃 =
𝜕𝜃̇

Using equation (5) in (8) so,

= m R 2 θ̇ ------------- (9)

4
The velocity in momentum can be expressed as,
𝑝𝜃
𝜃̇ = ------------ (10)
𝑚𝑅 2

Using equation (10) in (7) so (7) becomes,

1 𝑝𝜃 1
H = m R 2( 2
2) + m R
2 2
ω sin2 θ − mg R cosθ
2 mR 2

1 𝑝𝜃 2 1
𝐻 = + m R 2 ω2 sin2 θ − mg R cosθ ----------- (11)
2 mR2 2

Here 𝜃 and 𝑝𝜃 are independent variables.

The Hamilton’s equations of motion are
𝜕𝐻
θ̇ =
𝜕𝑝𝜃

−𝜕𝐻
𝑝𝜃̇ =
𝜕𝜃

The equation for 𝜃 is

𝑝𝜃
𝜃̇ = --------- (12)
𝑚𝑅 2

And for p is,

−𝜕 1
𝑝𝜃̇ = ( 𝑚𝑅 2 ω2 sin2 θ − mg R cosθ)
𝜕𝜃 2

= −𝑚𝑅 2 ω2 sinθcosθ − mg R sinθ ----------- (13)

So, equation (12) and (13) are Hamilton’s equations of motion.