Physics Notes - Herong's Tutorial Notes - v3.24, by Herong Yang
Lagrange Equations in Generalized Coordinates
This section provides a quick introduction to Lagrange Equations in Generalized Coordinates.
It is amazing to see that Lagrange Equations stay in the same form as in Cartesian Coordinates:
d(∂L/∂q')/dt = ∂L/∂q (C.3) or: d(∂L/∂q'1)/dt = ∂L/∂q1 d(∂L/∂q'2)/dt = ∂L/∂q2 d(∂L/∂q'3)/dt = ∂L/∂q3
Here is the proof using the first component of the vector only as provided in David Morin's book.
d(∂L/∂q'1)/dt = ∂L/∂q1 (C.4)
# To be approved
Start from left side term:
d(∂L/∂q'1)/dt = d(∂L/∂r'∙∂r'/∂q'1)/dt # Chain rule applied d(∂L/∂q'1)/dt = d(∂L/∂r'∙∂r/∂q1)/dt # Since ∂r'/∂q' = ∂r/∂q from G.29 d(∂L/∂q'1)/dt = d(∂L/∂r')/dt∙∂r/∂q1 + ∂L/∂r'∙d(∂r/∂q1)/dt # Chain rule applied again d(∂L/∂q'1)/dt = d(∂L/∂r')/dt∙∂r/∂q1 + ∂L/∂r'∙∂r'/∂q1 # Since d(∂r/∂q1)/dt = ∂r'/∂q1 by derivative switching d(∂L/∂q'1)/dt = ∂L/∂r∙∂r/∂q1 + ∂L/∂r'∙∂r'/∂q1 # Since d(∂L/∂r')/dt = ∂L/∂r by Lagrange Equations in Cartesian coordinates d(∂L/∂q'1)/dt = ∂L/∂q1 (C.4) # Reverse chain rule applied
Cool. We have proved Lagrange Equations in Generalized Coordinates based Lagrange Equations in Cartesian Coordinates.
Table of Contents
Introduction of Frame of Reference
Introduction of Special Relativity
Time Dilation in Special Relativity
Length Contraction in Special Relativity
The Relativity of Simultaneity
Minkowski Spacetime and Diagrams
►Introduction of Generalized Coordinates
Generalized Coordinates and Generalized Velocity
Simple Pendulum Motion in Generalized Coordinates
Hamilton's Principle in Generalized Coordinates
►Lagrange Equations in Generalized Coordinates
Lagrange Equations on Simple Pendulum
What Is Legendre Transformation
Hamilton Equations in Generalized Coordinates