HAMILTONS PRINCIPLE

The derivation of Lagrange equation started from the consideration of instantaneous state of the
system & small virtual displacement about that state (i.e)., from a differential principle such as
D’ Alembert principle.

It is also possible to obtain Lagrange equation from a principle that considers the entire motion
of the system between in times 𝑡1 &𝑡2 and small vietual variations of this motion from the actual
motion. The principle of this nature is known as integral principle.

Instantaneous configuration of a system describe the value of the n generalized co-ordinate 𝑞1 ,

𝑞2 ,…. 𝑞𝑛 and corresponds to a particular point in a Cartesian hyperspace, q’s form the n-
coordinate axis. This n-dimensional space is known as Configuration space.

As times goes on the state of system changes the system point moves in configuration space
tracing out a curve, described as the path of motion of the system.

Time can be considered as formally a parameter of the curve to each point on the path. There is
associated one (or) more values of the time.

The integral hamilton’s principle describes the motion of those mechanical system for which all
forces except the forces of constraint are derivable from a generalized scalar potential that may
be function of the co-ordinates velocity & time such system is denoted as Monogenic.

For monogenic, Hamilton’s principle system can be stated as,

“The motion of the system from 𝑡1 to𝑡2 is the line integral called the action (or) Action integral”.
𝑡
I= ∫𝑡 2 𝐿 𝑑𝑡 → (1)
1

Where I – line integral & L = t – v the stationary value for the actual path of the motion.

Stationary value for the line integral, we mean that the integral along the given path has same
value within the 1st order infinitesimal as that along all neighbouring path.

The motion is the variation of the line integral I for fixed 𝑡1 &𝑡2 is 0.

𝛿𝐼 = 𝛿(𝑞1 , 𝑞2 ,…. 𝑞𝑛 ,𝑞1̇ , 𝑞2̇ ,…….. ,𝑞𝑛̇ )dt = 0

Where the system constraints are Holonomic, The Hamilton principle is both necessary &
sufficient condition for Lagrangean equation.

Thus Hamilton principle follows directly from lagrange equation.

Extension of Hamilton’s Principle of Non-Hamilton’s principle

Determing the Hamilton’s (or) D'almberts principle for Holonomic constrains , the variation qi’s
are all independent.

With non-holonomic system .The generalized co-ordinate qi’sare not independent each other
. 𝛿𝑞i’s represent the ritual displacement consistant with the constrains 𝛿𝑞i’s are no longer
independent . However a steady forward treatment are possible if the equation of constrain are of
the type

∑𝑗 𝑎𝑖𝑗 + 𝑑𝑞𝑗 + 𝑎𝑖𝑡 𝑑𝑡 = 0 (1) i= 1,2,…..,m (1)

Where the co-efficient aij and ait may be function of the q’s and time ‘t’ . The quantity ‘m’
indicates that there are m-equation of this type .

The constrains eqn(1) ,for virtual displacement.

∑𝑗 𝑎𝑖𝑗 + 𝛿𝑞𝑗 = 0 (1) i= 1,2,…..,m (2)

We can nowuse equation (2) to reduce the number of virtual displacement to independent ones
by the Lagrange multiplier method.

𝜆𝑖 ∑𝑗 𝑎𝑖𝑗 𝛿𝑞𝑗 = 0 (1) i= 1,2,…..,m (3)

Where 𝜆𝑖. , 𝑖 = 1,2, … , m are some undetermined quantities known as Lagrange multipliers. In
general, they are function of the co-ordinates and time’t’ .

In addition , hamilton’s principle

𝑡
𝛿 ∫𝑡 2 𝐿𝑑𝑡 = 0 (4)
1

Is assumed to hold for non-holonomic systems following the hamilton’s principle implies that,

𝑡2 𝜕𝐿 𝑑 𝜕𝐿
∫𝑡 ∑𝑗(𝜕𝑞 − 𝑑𝑡 (𝜕𝑞 ) 𝛿𝑞𝑗 𝑑𝑡 = 0 (5)
1 𝑗 𝑗

Where the integration is with respect to time t1 and t2 .summering equation (3) over i and then
integrating with respect to time t1 and t2.
𝑡
We have ∫𝑡 2 ∑𝑗 ∑𝑗 𝜆𝑖 𝑎𝑖𝑗 𝛿𝑞𝑗 𝑑𝑡 = 0 (6)
1

Combining equation (5) and (6),

 𝑡2 𝜕𝐿 𝑑 𝜕𝐿
∫𝑡 ∑𝑗 [𝜕𝑞 − 𝑑𝑡 (𝜕𝑞 ) 𝛿𝑞𝑗 𝑑𝑡 + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 ] 𝛿𝑞𝑗 𝑑𝑡 = 0 (7)
1 𝑗 𝑗

In equation (7) , the selection of 𝜆′𝑖 𝑠 are at our disposal ,but the 𝛿𝑞𝑗 ’s are still not independent but
they are connected by the m relation of equation (2) ie, out of the n co-ordinates ,n-m may be
selected independently , and the remaining m are fixed by equation (2) the integrate in
equation(7) can be split into(2) as

𝑡 𝜕𝐿 𝑑 𝜕𝐿 𝑡 𝜕𝐿 𝑑 𝜕𝐿
∫𝑡 ∑𝑛−𝑚 𝑛
2 2
1
𝑗=1 [𝜕𝑞 − 𝑑𝑡 (𝜕𝑞̇ ) + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 ] 𝛿𝑞𝑗 𝑑𝑡 + ∫𝑡 ∑𝑗=𝑛−𝑚+1 [𝜕𝑞 − 𝑑𝑡 (𝜕𝑞̇ ) + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 ] 𝛿𝑞𝑗 𝑑𝑡
1
𝑗 𝑗 𝑗 𝑗

(8)

As the values of 𝜆𝑖 ′𝑠 are at our disposal . we now them to be ∋ the second term in equation (8)
vanishes

𝜕𝐿 𝑑 𝜕𝐿
𝑖𝑒, − 𝑑𝑡 (𝜕𝑞̇ ) + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 = 0 j=n-m+1…….n (9)
𝜕𝑞𝑗 𝑗

Now we are free to select the n-m co-ordinates arbitrary from equation (8)

𝜕𝐿 𝑑 𝜕𝐿
− 𝑑𝑡 (𝜕𝑞̇ ) + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 = 0 𝑗 = 1,2, … … … 𝑛 − 𝑚 (10)
𝜕𝑞𝑗 𝑗

Combaning eqyation (9) and (10) we get the complete set of lagrange equation for non-
holonomic system ,

𝜕𝐿 𝑑 𝜕𝐿
− 𝑑𝑡 (𝜕𝑞̇ ) + ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 = 0 𝑗 = 1,2, … … 𝑚 (11)
𝜕𝑞𝑗 𝑗

The first order differential equation

∑𝑗 𝑎𝑖𝑗 + 𝑑𝑞𝑗 + 𝑎𝑖𝑗 𝑑𝑡 = 0 by÷ 𝑑𝑡

𝑑𝑞𝑗
∑ 𝑎𝑖𝑗 + + 𝑎𝑖𝑗 = 0
𝑑𝑡
𝑗

∑𝑗 𝑎𝑖𝑗 + 𝑞̇ 𝑗 + 𝑎𝑖𝑗 = 0 (12)

Constitute (n+m) equation for n+m unknows .Next we consider the physical significance of the
undetermined multiplier for that , let us remove the constrains on the system in such way that the
motion is unchanged by the application of external force Qj .

The Qj make the equation of motion of the system remain the same . Under the influence of these
force Qj the equation of motion are ,
𝑑 𝜕𝐿 𝜕𝐿
( ) − 𝜕𝑞 = 𝑄𝑗 (13)
𝑑𝑡 𝜕𝑞̇ 𝑗 𝑗

Which must be identical with eqn (11) Hence we can identity ∑𝑖 𝜆𝑖 𝑎𝑖𝑗 with 𝑄𝑗 , generalized
forces of constrains . Next , we consider the holonomic system in which there are more
generalized co-ordinate the degrees of freedom .A holonomic equation of constrains
f(𝑞1 , 𝑞2 , … . . , 𝑞𝑛 , 𝑡) = 0 is equivalent to the differential equation .
𝜕𝑓 𝜕𝑓
∑𝑗 𝑑𝑞𝑗 + 𝜕𝑡 𝑑𝑡 = 0 (14)
𝑑𝑞𝑗

Which is identical in form the equation (1)

𝜕𝑓 𝜕𝑓
𝑎𝑖𝑗 = 𝜕𝑞 𝑎𝑖𝑡 =
𝑗 𝜕𝑡

Thus, lagrange multiplier method can be used for holonomic constrainsts .

where (i) it is convenient to reduce all the q’s to independent (or) (ii) we desire to obtain the
force of constraints.

Conservation theorem and symmetric properties

In many problem, a number of first integral of the equation of motion can be obtain
immediately by this we mean relation to the type

L =f( q , 𝑞̇ ,t )
𝑡2
H= ∫𝑡1 𝐿𝑑𝑡 = 0

=0

between𝑡1 &𝑡2
𝑡2
∫𝑡1 𝑓(𝑞1 𝑞2 …. 𝑞1 , 𝑞1′ 𝑞2′ …… 𝑞𝑛′ ,t ) dt =0

F(𝑞1 , 𝑞2 , 𝑞𝑛 , 𝑞1′ 𝑞2′ …… 𝑞𝑛′ ,t) = Constant ………. (1)

Which are first order differential equation this first integrals are in first, because
they tell us something physically about the system. They include in fact the
conservation laws obtained previously let us consider an example.

A system of mass points under the influence of forces derived from potential
dependent on position only. Then
𝜕𝐿 𝜕(𝑇−𝑉) 𝜕𝑡 𝜕𝑣
= = -
𝜕𝑥𝑖̇ 𝜕𝑥𝑖̇ 𝜕𝑥𝑖̇ 𝜕𝑥𝑖̇

𝜕𝑇 𝜕𝜀
= [ ½𝑚𝑖 (𝑥𝑖̇ 2 + 𝑦𝑖̇ 2 + 𝑧𝑖̇ 2 ]
𝜕𝑥𝑖̇ 𝜕𝑥𝑖̇

𝑚𝑖 𝑥𝑖̇ = 𝑝𝑖 x

Which is the x –component of a linear momentum associated with the I th particle.

This result suggest an obvious extension to be concept of momentum. The
generalized momentum associated with the coordinate 𝑞𝑗 shall be defined as
𝜕𝐿
𝑝𝑗 = ………………. (2)
𝜕𝑞𝑗̇

The terms canonical momentum and conjugate momentum are often are also used
for 𝑝𝑗 notice that if 𝑞𝑗 is not a Cartesian coordinate 𝑝𝑗 does not necessarily have the
dimension of the linear momentum. Further if there is a velocity dependent
potential then even with a Cartesian coordinate 𝑞𝑗 the associated generalized
momentum, it will not be identically with the usual mechanical momentum. These
in this case of a group of particle in an electromagnetic field the lagrangian is
L=T-V

L=1/2 ∑𝑖 𝑚𝑖 𝑟𝑖̇ 2 - ∑𝑖 𝑞𝑖 𝜙(𝑥𝑖 ) + ∑𝑖 𝑞𝑖 𝐴(𝑥𝑖 ) . 𝑟𝑖̇

𝜕𝐿
𝑝𝑖 . x = 𝑚𝑖 𝑥𝑖̇ -0 + 𝑞𝑖 Ax
𝜕𝑥𝑖̇

𝜕𝐿
𝑝𝑖 . x = 𝑚𝑖 𝑥𝑖̇ + 𝑞𝑖 Ax ……………. (3)
𝜕𝑥𝑖̇

Mechanical momentum + an additional term if the lagrangian of the system does

not contain a given coordinates 𝑞𝑗 .

Then the coordinate is said to be cyclic or ignorable.

The lagrangian equation of motion

𝑑 𝜕𝐿 𝜕𝐿 𝑑 𝜕𝐿
( ̇
)- =0 reduces for a cyclic coordinate to ( ) =0
𝑑𝑡 𝜕𝑞𝑗 𝜕𝑞𝑗 𝑑𝑡 𝜕𝑞𝑗̇
𝑑
(𝑝𝑗 ) =0 which means that 𝑝𝑗 is constant. hence we can state as a general
𝑑𝑡
conservation theorem that the generalized momentum conjugate to a cyclic
coordinate is conserved,

The procedure originated by Routh consisting of modifying the lagrangian so that

if it is no longer a function of a generalized velocity corresponding to the cyclic
coordinate but instead involves only its conjugate momentum.

The advantage is so doing is that 𝑝𝑗 can then be considered one of the constants of
integration involves only the noncyclic coordinates. This is called the Routh’s
procedure (or) Routh’s method.

Suppose we have a single particle in a field in which neither 𝜙 nor a depends on x,

then x now here appear in L and is therefore cyclic the corresponding canonical
momentum 𝑝𝑥 must therefore be conserved from this momentum now has the form

Px= 𝑚̇ 𝑥 + qAx = Constant

In this case it is not a mechanical linear momentum 𝑚̇ 𝑥 is conserved.