Dissipative Force

Non-Potential Force
Generalized force came from
a transformation.
Jacobian transformation
Not a constraint

Conservative forces were
separated in the Lagrangian.

c
c
=

m
i
i m
q
x
F Q
m
m
m
m m
Q
q
V
Q
q
T
q
T
dt
d
' +
c
c
= =
c
c

c
c

Velocity Dependent
A function M may exist that
still permits a Lagrangian.
Requires force to remain
after Lagrange equation
M is a generalized potential


The Lagrangian must include
this to permit solutions by
the usual equation.
) , (
j j
q q M
j j
j
q
M
q
M
dt
d
Q
c
c

|
|
.
|

\
|
c
c
= '

M V T L =
0 =
c
c

|
|
.
|

\
|
c
c
j j
q
L
q
L
dt
d

Electromagnetic Potential
The electromagnetic force
depends on velocity.
Manifold is TQ

Both E and B derive from
potentials |, A.
Generalized potential M


Use this in a Lagrangian,
test to see that it returns
usual result.
)] ( [ B v E q F

. + =
t
A
E
c
c
V =


|
v A q q M

= |
A B

. V =
v A q q mv L

+ = |
2
2
1
Electromagnetic Lagrangian
) ( ) (
x
A
z
x
A
y
x
A
x q
dt
dA
x
q x m
z
y
x x
c
c
+
c
c
+
c
c
+ +
c
c
=
|
z
A
dt
dz
y
A
dt
dy
x
A
dt
dx
t
A
dt
dA
x x x x x
c
c
+
c
c
+
c
c
+
c
c
=
x
L
x
L
dt
d
c
c
=
|
.
|

\
|
c
c

matching Newtonian equation

x A q q x m L

+ = |
2
2
1
) ( ) (
z
A
z
x
A
z
y
A
y
x
A
y q
t
A
x
q x m
x z x
y
x
c
c

c
c
+
c
c

c
c
+
c
c
+
c
c
=
|
x x
B v q qE x m ) ( . + =
Dissipative Force
Dissipative forces cant be
treated with a generalized
potential.
Potential forces in L
Non-potential forces to the
right

Friction is a non-potential
force.
Linear in velocity
Could be derived from a
velocity potential
j
j j
Q
q
L
q
L
dt
d
=
c
c

|
|
.
|

\
|
c
c

x x fx
v b F =
2
2
1
x x
v b = F
x x
L
x
L
dt
d
c
c
=
c
c

|
.
|

\
|
c
c F
Rayleigh Function
i m
ij j
q t q b Q ) , ( =
'
j i
ij
q q b
2
1
= F
Dissipative forces can be
treated if they are linear in
velocity.

This is the Rayleigh
dissipation function.

Lagranges equations then
include dissipative force.

0 =
c
c
+
c
c

|
|
.
|

\
|
c
c
j j j
q q
L
q
L
dt
d

F
Energy Lost
The Rayleigh function is related to the energy lost.
Work done is related to power
Power is twice the Rayleigh function

dt v F r d F dW
f f f

= =
dt v b v b v b dW
z z y y x x f
) (
2 2 2
+ + =
dt dW
f
F 2 =
Damped Oscillator
Example
The 1-D damped harmonic
oscillator has linear velocity
dependence.
Rayleigh function from
damping
The power lost from
Rayleigh

Use damped oscillator
solution to compare with
time.
next
x b kx F =
2
2
1
x b = F
2
2 x b P = = F
E
m
b
dt
dE
=
2
2
1
2
2
1
kx x m E + =