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PHY401A: Classical Mechanics

(2015-2016: First Semester, Second Half.)
Instructor: Sagar Chakraborty, Department of Physics, I.I.T. Kanpur.


Please submit your solutions for any two homework sets on 13th November, 2015 at 1200hrs in the lecture-room.
Everyone is, however, encouraged and requested to attempt all the four homework sets as they are not only insightful but
also very important from the exam point of view. Neither early nor late submission will be entertained. Happy solving! ,
Homework Set # 1

Small Oscillations &

Conservative Systems

1. Consider the following equation

x
+ k x + 2 x = f cos t ,

(1)

where the symbols are in their usual meaning.

(a)
(b)
(c)
(d)

Solve it completely for arbitrary initial conditions when 6= .

Solve it again when = .
Putting k = 0, write down the corresponding Lagrangian.
Subsequently, derive the equation using Hamiltons principle of least action.

2. Suppose there is a circular hoop of mass m suspended from seven uniformly-spaced massless strings, each of
length l, such that the plane of the hoop always remains horizontal (even when the hoop oscillates). Acceleration
due to gravity is acting downwards.
(a) What is the number of degrees of freedom?
(b) Write the Lagrangian using
i. the angle of rotation () of the hoop about the axis through the centre of mass ; and again,
ii. using z, the height of the center of mass above its equilibrium position.
(c) Using both the Lagrangians, find the normal coordinates and the corresponding characteristic angular
frequencies when the hoop executes small oscillations.
3. Model an isolated diatomic molecule as two masses m1 and m2 connected by a massless spring of spring constant
k. Suppose the molecule is free to move only along the line joining the two masses.
(a) Choosing proper generalised coordinate(s) to express the Lagrangian in terms of reduced mass [
m1 m2 /(m1 + m2 )] so that the problem reduces to an equivalent one-body problem.
(b) Find the normal modes and the resonant frequencies.
(c) Find the ratio of the angular frequencies of small oscillations between two diatomic molecules, if the other
diatomic molecule has same k but different masses (m01 and m02 , say).
4. FIG. 1 hows a triple pendulum. The three masses can swing as illustrated in the right figure. The horizontal
line is a thin massless rigid rod and the other lines are taut strings. Find the eigen-frequencies and the normal
modes for the small oscillations. You may want to take masses m1 = m2 = m3 = m and the lengths of the
pieces of the strings l1 = l2 = l3 = l in order to ease through rather monotonous algebra.

FIG. 1.

5. Consider an isolated free linear triatomic molecule consisting of three masses (m1 , m2 , & m3 ) such that at
equilibrium the central atom (m2 ) is equidistant from the other two atoms. We choose to model the actual
interatomic potential by two springs of force constant k.
(a) Find the normal nodes and the resonant frequencies. Present the result assuming m1 = m3 for the sake of
simplicity.
(b) What is the physical significance of the vanishing resonant frequency you have found for the problem?
(c) Thus, realising that the centre of mass remains in uniform motion, impose a new condition that the centre
of mass remains remains stationary at origin; and use the condition to rewrite an effective Lagrangian for
the system in terms of only two generalised coordinates.
(d) Find the eigen-frequencies and the normal modes again using the effective Lagrangian found above.
6. Consider the following dynamical system
x = ay 2 ;
y = axy ,

(2a)
(2b)

where a R.
(a) Show that x2 + y 2 is a constant of motion.
(b) Demonstrate that though x/x

+ y/y

= ax which is not equal to zero generally, the average value

of over any orbit in the phase space is zero.
(c) Is the system conservative? Does the system have a Hamiltonian?
7. The following dynamical system is known as Lotka-Volterra model
x = x xy ,
y = y + xy .

(3a)
(3b)

(a) Find out the hyperbolic and the non-hyperbolic fixed points; and do linear stability analysis about them
in order to determine the local phase portrait around them.
(b) Find dy/dx and solve it exactly for a given initial condition (x0 , y0 ). By inspecting the solution, find out
the first integral of motion.
(c) Though the system is not a Hamiltonian system, would you call it a conservative system? Hence, comment
on the nature of the nonlinear stability of the fixed points.
8. For the dynamical system
x = y(13 x2 y 2 ) ;
y = 12 x(13 x2 y 2 ) ,

(4a)
(4b)

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(a) find x/x

+ y/y.

Does the system have a Hamiltonian?

(b) Assume a Hamiltonian H(x, y) and use definition to find out its explicit form.
(c) Find the fixed points, classify them and draw local phase portraits around them.
(d) Draw a rough sketch of global phase portrait.
9. Consider the following well-studied differential equation describing the motion of a simple pendulum
+ 2 sin (t) = 0 ,
(t)

(5)

where , R.
(a) Prove that the system is conservative and find one time independent constant of motion. Can there be any
more (functionally independent) time independent integral of motion?
(b) Since the system is two dimensional autonomous conservative system, using definition, find a Hamiltonian
by solving relevant partial differential equations.
(c) Recognise that is the generalised coordinate q. Find the Lagrangian, the conjugate momentum (p) and,
thus, find the Hamiltonian by finding the Legendre dual of the Lagrangian.
(d) Write down the Hamiltons canonical equations of motion for the system in hand and sketch a qualitative
global phase portrait.
10. A bead of mass m is free to frictionlessly slide on a string of shape z = f (x) in a vertical xz plane. Acceleration
due to gravity is g
z.
(a) Recognising that this is a one degree of freedom system and that z = xf
0 (x) (prime denotes derivative
w.r.t. x), write down the Lagrangian (L) in terms of x and x.
(Choose potential energy U = 0 at z = 0.)
(b) Use the Euler-Lagranges equation to find equation of motion for the bead in the form: x
= F (x, x).

(c) Split x
= F (x, x)
into the system of two ODEs: x = y ; y = F . What is the divergence of the phase velocity
field at an arbitrary point in the phase space x y? Can you construct a Hamiltonian function H(x, y)?
(d) Find the generalised momentum (p). Denoting x by q, find H(q, p) using H(q, p) pq L(q, q)
and thus,
find the canonical equations of motion in the form: q = g(q, p) ; p = h(q, p). What is the divergence of the
phase velocity field at an arbitrary point in the phase space q p?

KQRNBp

Homework Set # 2

Canonical Transformations &

Poisson Bracket

1. Let f (q, p, t), g(q, p, t), and h(q, p, t) be some smooth enough functions of generalised co-ordinate, generalised
momentum and time. Let H be the relevant Hamiltonian. Prove the following relations concerning Poisson
bracket [ , ].
(a) Jacobis identity: [f, [g, h]] + [g, [h, f ]] + [h, [f, g]] = 0 .
(b) df /dt = f /t + [f, H] .
(c) Poissons theorem: If f and g are constants of motion, then [f, g] is also a constant of motion.
(d) Consider a canonical transformation given by Q = Q(q, p, t) , P = P (q, p, t).
i. We write f (q, p, t) = f (q(Q, P, t), p(Q, p, t), t) = f(Q, P, t) and similar definition goes for g(Q, P, t).
Prove [f, g]q,p = [f, g]Q,P .
ii. Show that the known necessary and sufficient conditions for canonical transformations in terms Poisson
brackets, viz. [Q, Q] = [P, P ] = 0 & [Q, P ] = 1, trivially boils down to Jacobian determinant of the
transformation being unity.
iii. However, unit Jacobian is in general only a necessary condition for arbitrary dimensional phase space
as can be seen from the following counterexample: Q1 = p1 , Q2 = p2 , P1 = q1 , P2 = q2 / (here
R {0, 1}). Show that the Jacobian determinant is equal to one but it is still not a canonical
transformation. [Hint: Verify the later by calculating relevant Poisson brackets.]
(e) Wherever possible, repeat the aforementioned problems for the case where the number of generalised
coordinates is arbitrarily more than one.
2. Consider the Hamiltonian of a two-dimensional isotropic simple harmonic oscillator:
H(q1 , q2 , p1 , p2 ) =

1 2
(q + q22 + p21 + p22 ) .
2 1

(a) Show that Poisson bracket [ , ] of J q1 p2 q2 p1 with H vanishes or in other words, J is a constant
of motion.
(b) Prove [G, H] = 0, where G (p21 p22 )/2 + (q12 q2 )2 /2.
(c) Hence, using Jacobi identity for Poisson bracket argue that A [J, G] is a constant of motion. By doing
explicit calculations show that A = 2(p1 p2 + q1 q2 ) and verify dA/dt = 0 by using equations of motion.
(d) Also, prove that H 2 = G2 + A2 /4 + J 2 , thus, showing that H, G, A, & J are not all independent of each
other; any three out of the four can be chosen as independent constants of motion.
(e) Show (i) [A, J] = 4G, and (ii) [A, G] = 4J, and thus note that no new independent constant of motion is
generated.
3. Consider two Lagrangians L0 (q, q,
t) and L(q, q,
t).
(a) Show that they describe the same motion if L0 L = dF/dt, where F is a function of q and t only.
(b) Calculate generalised momenta p0 and p using L0 and L respectively, and find a relation relating p0 to p and
F . Prove that this relation along with q 0 = q constitute a canonical transformation and find the related
generating function of type 2.
(c) Using Legendre transformation find the Hamiltonians (H 0 and H respectively) corresponding to L0 and L.
How are F , H 0 and H related?
4. Consider four sets of transformations: (i) Q = q , P = p2 ; (ii) Q = p , P = q; (iii) Q = p sin q , P = p cos q; and

(iv) Q = q , P = p q. Following problems concern all these transformations.

(a) Let there be a Hamiltonian H(q, p) = p2 /2. Find Q and P in terms of P and Q.
(b) Assuming that there exists a function K(Q, P ) such that Q = K/P ; P = K/Q , find out K explicitly.

5
(c) Suppose H = p2 /2 + q 2 /2, does a function K(Q, P ) exist such that canonical equations in terms of Q
and P (and K as Hamiltonian) can be written down? If yes, then find it out. Repeat the problem for
H = p2 /2 + q.
(d) Using only your answers to the previous parts of this problem, mention which of the four transformations
has/have a chance of being canonical. Verify your answer by making use of Poisson bracket.
5. Setting mass, length and acceleration due to gravity to unity, we note that for small oscillations of simple pendulum we can use H(q, p) = p2 /2+q 2 /2 (please verify) as Hamiltonian. Here q and p are generalised coordinate and
generalised momentum respectively. Consider the following transformation: Q(q, p) = arctan(q/p) ; P (q, p) =
(q 2 + p2 )/2 , and,
(a) prove that this is a canonical transformation by finding (i) the determinant of the Jacobian matrix of the
transformation, and (ii) Poisson brackets [Q, Q], [P, P ] and [Q, P ].
(b) Hence, using p = F1 (q, Q)/q and P = F1 (q, Q)/Q, show that the generating function F1 =
(q 2 cot Q)/2. [Hint: First, replace p and P on the L.H.S. by appropriate explicit functions of q and Q.]
(c) Verify that for the F1 found, 2 F1 /qQ 6= 0 and obtain back the given canonical transformations..
(d) Prove that Hamiltonian in the new coordinates is K = P and, thus, showing that P is a constant of motion.
6. Derive the formula for canonical transformations Q = Q(q, p, t) , P = P (q, p, t) in terms a generating
function F (q, p, t); and also, for type 3 and type 4 generating functions, F3 (p, Q, t) and F4 (p, P, t) respectively.
Use the formula to find F , F3 , and F4 explicitly for (a) Q = p , P = q, and, (b) Q = p2 /2 , P = q/p.
7. Suppose F1 (q(), Q(), ), F2 (q(), P (), ), F3 (p(), Q(), ), and F4 (p(), P (), ) are the generating functions of types 1, 2, 3 and 4 respectively for the following transformation
Q = f (q(), Q(), ) ;
P = g(q(), Q(), ) .
which depends upon a parameter .
(a) Calculate Fi / Fj /, where i, j {1, 2, 3, 4}.
(b) Use time t as and consider F1 (q, Q, t) = q(Q2 + t2 ). Find F2 , F3 , and F4 ; and verify the results obtained
in part (a) of this problem.
8. A general 2D dynamical system x = f (x, t) can be explicitly represented as
x = f (x, y, t) ,
y = g(x, y, t) .
(a) Generalised Liouville theorem: Suppose A(0) is an arbitrary domain (area) in the phase space at time t = 0
and it flowsRtoR become A(t) at a later time t, and (x, y, t) is a function over this moving domain. Prove
that I(t)
(x, y, t)dxdy is an integral invariant if /t + (f ) = 0.
A(t)
(b) Liouville theorem: Hence, prove that the area of a flowing arbitrary domain in the phase space of an
one-degree-of-freedom Hamiltonian system remains unchanged with time. [Hint: What are f and for
this case? ]
(c) With  0, we can write the canonical equations of motion as q(t+) = q(t)+Hp and p(t+) = p(t)Hq
(verify it). Since by virtue of above theorems, an infinitesimal phase space area qp will not change with
time, do you feel that we can think of the Hamiltonian flow being generated by the (infinitesimal) canonical
transformation: Q = q + Hp and P = p Hq ? If yes, then by using Poisson bracket, prove that this
indeed is a canonical transformation. (You may require to ignore terms of order 2 .)
(d) Find the type 2 generating function for the aforementioned canonical transformation.
9. Consider yet again the Hamiltonian H = q 2 /2 + p2 /2.
(a) Argue that the trajectories in the phase space generated by the Hamiltonian correspond to librations.
H
1
pdq and find it explicitly for the system in hand.
(b) Construct action variable I 2
(c) Find the angular frequency () of oscillations of the liberating motions.

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(d) Find both the type 1 and type 2 generating functions [F1 (q, ) and F2 (q, I) respectively] corresponding to
the canonical transformation (q, p) (, I). Here is the angle variable.
(e) Find an expression for q in terms of I , , & t.
10. Suppose an one degree-of-freedom particle of unit mass moving in the potential U (q) = A tan2 Bq, where
A , B R+ .
(a) Find the Lagrangian, the generalised momentum (p) and the Hamiltonian.
(b) Write down canonical equations of motions, and; find the fixed points, their stability properties in the
phase space, and draw schematic phase portrait.
(c) If there is any libration, find out the turning points, i.e., the values of q at which the particle is at rest
(q = 0, which in this case would also mean p = 0); and hence find the action variable (I).
(d) What is the corresponding angular frequency ()? Is the system isochronous?
(e) If denotes the angle variable, write down the expression for type 2 generating function F2 (q, I) effecting
the canonical transformation (q, p) (, I).
(f) Find the angle variable () and hence, putting = t + 0 , show that q is a periodic function of time t.
(g) Draw the phase portrait in I phase space.

KQRNBp

Homework Set # 3

Hamilton-Jacobi Equation &

Perturbation Theory

1. Look for type 2 generating function F2 (q, P, t) such that new Hamiltonian corresponding to H = q 2 /2 + p2 /2 is
trivially 0. Recall: p = F2 /q, Q = F2 /P , K = H(q, p) + F2 /t. Of course, such an F2 will be a solution
of the Hamilton-Jacobi equation:


S
S
H q,
,t +
= 0.
q
t

(6)

(a) Since time is cyclic here i.e. H/t = 0, One can look for solution of the form: S(q, , t) = W (q, ) + S 0 (t)
upto
constant. is a constant of integration. Using this in equation 6, show that S =
 an additive
p
p
1
2
2 t upto an additive constant. is a constant.
2 2 arcsin( q /2) + q 2 q

(b) By Jacobis theorem: S/ is also a constant of motion. Use this to find q(, t) = 2 sin(t + ) .
Also, find p = S/q as a function of t.
(c) Find Hamiltonian is terms of and recognise that is nothing but the total energy of the system; and
also find the new Hamiltonian (K) as a function of ( , , t).
2. For the following cases, find out the Hamiltons principle function S(q, P, t) and the Hamiltons characteristic
function W (q, P ); and hence, find the generalised coordinate and the generalised momentum as a function of
time:
(a) An free particle of unit mass moving along a line.
(b) A point particle of mass m dropped from a height h. The acceleration due to gravity is g = g
z.
(c) A one-degree-of-freedom point particle of unit mass moving in a potential which depends linearly on time
t and generalised coordinate q.
3. Consider a damped simple harmonic oscillator (DSHO): m
x + k x + 2 x = 0.
(a) Can you find a potential corresponding to the problem? Why/Whynt?
(b) Solve the equation by using a trial solution of the form A exp(mt); and find x(t) for a k/ greater than,
equal to and less than 2.
(c) Show a Lagrangian L(x, x,
t) = exp(kt)(q2 /2 2 q 2 /2), when plugged in Euler-Lagranges equation, gives
correct equation of motion for the DSHO.
(d) Find the Hamiltonian H and the canonical equations of motion. Is H a constant of motion?
(e) Find the type 2 generating function for the transformation: Q = q exp(kt/2) ; P = p exp(kt/2), and find
the transformed Hamiltonian K(Q, P, t). Is K a constant of motion?
(f) Write down the Hamilton-Jacobi equation using K and solve it for the Hamiltons principle function in
order to ultimately find (Q , P ), and hence (q , p).
4. Find the integral expression of Hamiltons characteristic function for a particle of mass m moving on x-axis
under the influence of a potential U (x) = a|x| (a R). Using this
(a) find action variable I and show I E 3/2 , where E is the total energy of the system.
(b) Find out the frequency of oscillations.
(c) Write down the new Hamiltonian after the transformation (q, p) (, I) has been effected by the generating
function W (q, I).


W
5. Write down the time independent Hamiltonian-Jacobi (H-J) equation H q1 , q2 , W
,
= E explicitly
q1 q2
for H = (12 q12 /2 + p21 /2) + (22 q22 /2 + p22 /2).
(a) Use an assumed separated form for W to reduce H-J equation into two ordinary differential equations of
first order.

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(b) Construct two action variables Ii
frequencies of oscillations.

1
2

pi dqi (no summation over i) and use them to find that the angular

(c) Show that in action-angle variables: H = 1 I1 + 2 I2 and hence, verify that the system is degenerate i.e.
det( 2 H/Ii Ij ) = 0.
6. Simple Atwoods machine: Two masses heavier M and lighter m connected via a pair of horizontally
placed frictionless and weightless tiny pulleys are tied at the ends of an inextensible string. M can move only
vertically whereas m can swing in a vertical plane (r, ). Here, r is the length of the string from pulley nearer
to m to m and is the angle which this part of string makes with a vertical line.
(a) Find the number of degrees of freedom, the Lagrangian and the Hamiltonian.
(b) Write down the time independent Hamilton-Jacobi equation in radial polar cordite and in parabolic coordinates (, ) defined through: r = ( 2 + 2 )/2 ; = 2 arctan[( 2 2 )/2].
(c) Assume: M = 3m. Nothing that in the parabolic coordinates the H-J equation can be separated into two
ordinary differential equations by putting W (, , 1 , 2 ) = W1 (, 1 ) + W2 (, 2 ), argue that one constant
can be taken as the total energy of the system and the other one is another first integral of motion. From
the equations for W , W1 and W2 , find the constants of motion explicitly in parabolic coordinates and thus,
in radial-polar coordinates.
(d) Can you repeat the problem for M = (4n2 1)m where n is any integer?
7. Consider a non-Hamiltonian system: x
+ (x2 1)x + 02 x = 0, known as Van der Pol equation.
(a) Does the system undergo Hopf bifurcation as is varied? If yes, then what is the critical value of the
bifurcation parameter?
(b) Using PoincareLindstedt method, find out the correction to the frequency (of a possible oscillatory state)
due to the nonlinear term. Making use of ||  1, present your answer upto second order in .
(c) While eliminating the resonating terms, note that you can also find out the amplitude of the oscillation if
present at all. What is its value at the leading order?
8. The following dynamical system is a modified version of Lotka-Volterra (LV) model
x = x xy ;
y = y + x y ,

(7a)
(7b)

where , I+ .
(a) Does the system have a Hamiltonian with x and y as canonically conjugate variables? Give mathematical
arguments to support your answer.
(b) Show that C(x, y) = ln(xy) x / y / is a first integral of the equations.
(c) Write down the modified LV model in ( , ) coordinates where = ln x and = ln y; and show that C(x, y)
is Hamiltonian for the system. For what values of (x , y), ( , ) are defined?
(d) Note that C(x, y) = constant in the neighbourhood of the nonlinear center x = 1 , y = 1 describes closed,
and hence, periodic trajectories. Settiing = = 1, use secular perturbation theory to find the angular
frequency upto second order (in , as explained in the hint below) for such a trajectory with very small
amplitude. [Hint: Shift the origin x0 = x 1 , y 0 = y 1 and write the LV model in primed coordinates.
Since the amplitude is small for the problem, the nonlinear terms are smaller in magnitude than the linear
terms. In order to capture this fact put a bookkeeping positive parameter in front of the nonlinear terms.]
9. A particle of mass m executing simple harmonic oscillations of angular frequency 0 along x-axis is subjected
to an additional potential x3 /3.
(a) Sketch the potential energy of the particle for = 0, = and some finite positive value of . Will the
particle always oscillate?
(b) Write down the Hamiltonian H(x, p) and show that it is a constant of motion. Hence, for a given energy
E for the particle, calculate the amplitude A of the particle when it oscillates. [Hint: When x = A, the
particle is instantaneously at rest. One should get two values of |A| different in either side of the origin.
Why? ]

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(c) Assuming ||  1, use secular perturbation theory to calculate the angular frequency upto order 1 of the
oscillations when present.
(d) Employ canonical perturbation theory to verify the angular frequency obtained using Lindstedt-Poincare
technique just used.
(e) Exact method: If T is the time period of oscillation, find that it will be given by
Z
T =


1/2
2x3
.
dx 2E 02 x2
3

Put the proper limits of integration to find the time-period and hence, the angular frequency upto first
order in .
10. A simple pendulum is rotating in a vertical plane in a laboratory on Jupiters surface.
(a) Using an angular coordinate as the generalised coordinate, write down the Hamiltonian for motion.
(b) Assume the motion of the pendulum is so fast that gravitational forces can be treated as small perturbation.
Hence, recognise the small parameter (call it ) and, the unperturbed and the perturbed parts of the
Hamiltonian needed to carry out the canonical perturbation method. Thus, find the angular frequency of
oscillations upto first order in the small perturbation parameter.
(c) Also express the canonically conjugate variables as a function of time upto first order in .

KQRNBp

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Homework Set # 4

Time Dependent Hamiltonian:

Approximate Methods

1. Consider a time-dependent Hamiltonian H(q, p, (t)) = p2 /2 + (t)2 q 2 /2 where we treat /

 0 (0)
as a constant.
(a) Find the type 1 generating function F1 (q, , ) which effects a canonical transformation (q, p) (, I) such
that the later are action-angle variables when is time-independent.
(b) Suppose now that (t) is not constant.
i. Write H(p, q) by replacing (p, q) by (, I). Is it the Hamiltonian in (, I) variables for the system?
ii. What is the energy of the system at any given time? Express the result in (, I) coordinates.
iii. Realising that F1 is now time dependent, write down the new Hamiltonian K(, I, t) in terms of H
and F1 , and write both R.H.S. and L.H.S. only in terms of (, I).
iv. Are (, I) the action-angle variables now for the system? Are they still canonical variables?

v. Upto leading order what is the angular frequency, ?

vi. Solve /

= and find (t). Also, write down the equations of motion for and I.
(c) Starting with an ansatz: (, I) = (0 , I0 ) + (1 , I1 ) + , find and I upto first order in and also show
that the fractional (secular) change in I over the period T 2/0 is given by (T )2 /2.
2. Prove explicitly the adiabatic invariance of the action of a perfectly elastic ball of mass m, bouncing between
two vertical massive rigid walls, which are moving with velocity u in the opposite directions. The initial velocity
v0 of the ball is much greater than u.
3. Consider a ball of mass m bouncing vertically and perfectly elastically in an accelerating lift. Strength of
acceleration due to gravity is g.
(a) Suppose the acceleration of the lift is constant (a, say), use Newtons equations of motion to find out the
weight of a block of mass M placed on the lifts floor. Recall that weight is M g when the lift is at rest.
(b) Thus, noting that one can view the motion in an accelerating lift as the motion in a stationary lift with
properly modified value for g, write down the Hamiltonian for the bouncing ball. Write down the expression
for instantaneous energy E as well.
(c) If hmax is the maximum height the ball reaches, find the action variable for the bouncing ball in the
constantly accelerating lift.
(d) Find E in terms of I. Would it serve as the Hamiltonian written in action-angle (, I) variables?
(e) Now let a have a very small time dependence. Within adiabatic approximation, find energy E and, hence,
hmax (now time dependent quantities).
4. A particle of mass m moves in a potential V (x) = a tan2 bx (a, b are constants). If b changes slowly with time,
how will the energy, angular frequency and the amplitude of oscillations change?
5. A ball of radius R smoothly slips up and down as illustrated in FIG. 2 along a frictionless inclined plane
PQ. The ball is reflected elastically at point Q by a rigid wall. The angle of inclination is .
(a) Find the maximum height reached by the center of the ball if it starts from rest at point P .
(b) If changes adiabatically, what will be the maximum height reached by the balls center after each collision
with the wall?
(c) How would your conclusions change had the ball been rolling without slipping?
6. Consider a pendulum consisting of a rigid rod of negligible mass and length l with a mass m fixed at its end.
The pendulum is free to swing in a vertical plane and the gravity acts vertically downwards. Also, suppose the
point of support oscillates vertically as A sin t.
(a) Write down the Hamiltonian for the system.
(b) Assuming 1/ is much smaller than the typical timescale of the pendulums motion in absence of any
motion of the point of support, find the Hamiltonian describing the average motion of the pendulum.

11

FIG. 2.

(c) Write down the canonical equations of motion for the mean conjugate variables and show the stable fixed
point for the case A = 0, remains so even when A 6= 0 (i.e., when the point of support oscillates).
(d) Find the value of angular frequency for which the pendulum is stable when the mass m is vertically above
the point of support!
7. A pendulum, consisting of an extremely light rigid rod of length l with a mass m attached to its end, is free
to oscillate in a vertical plane. The acceleration due to gravity (g) acts vertically downwards. Let the point of
support move horizontally as A sin t.
p
(a) Assuming  g/l , find the Hamiltonian describing the mean motion of the pendulum.
(b) Write down the canonical equations of motion for the mean conjugate variables and find the stable and
the unstable fixed points; and thus, show that for A2 2 > 2gl, the stable equilibrium position is given by
= arccos(2gl/A2 2 ), where is the anticlockwisely-positive angle subtended by the rod of the pendulum
with a downward vertical line.
8. In the xz plane, a bead of mass m slides on a smooth string whose shape is described by z = f (x). Acceleration
due to gravity is acting downwards, i.e., g = g
z. The string is periodically and rapidly shaken with a very
high frequency such that every point on the string gets vertically displaced by a distance d(t).
(a) Show that the Hamiltonian
x, p) =
H(

p2
mhd2 if 0 (
x) 2
+ mgf (
x) +
0
2
0
2m [1 + f (
x) ]
2 [1 + f (
x)2 ]

describes the average motion of the bead.

(b) Find the condition and the frequency for the case when the mean motion of small amplitude in the
neighbourhood of a local maximum of f (x) can be simple harmonic.
(c) Again find the frequency for the case when the average motion of small amplitude is simple harmonic in
the neighbourhood of a local minimum of f (x).
(d) How would your answers to the above problem change if the rapid periodic shaking of the string horizontally
(instead of vertically) displaces every points on it?
9. Let there be a Hamiltonian of the form
H(q, p, t) = H0 (q, p) +

N
X

Un (q) sin(nt) +

n=1

N
X

Vn (q) cos(nt)

n=1

where  1/ , being the timescale over which H0 changes appreciably. Prove that the average motion of
the system (described by q , p) is governed by the following Hamiltonian:
1
q , p) = H0 (
H(
q , p) +
4

2 H0
p2

X
N

1
2 2
n
n=1

"

Un
q

2


+

Vn
q

2 #
.

12
10. Write down the equations of motion for the small oscillations of a simple pendulum whose point of support
oscillates vertically sinusoidally with frequency 2 +  and amplitude (a) much smaller than the length (l) of
the pendulum. Here, is the natural frequency of the simple harmonic oscillations which the pendulum would
execute if the point of support was immovable and   is a constant.
(a) Find the conditions for the parametric resonance upto terms of first order in a/l.
(b) By including higher harmonics in your trial solution for the problem, find again the conditions of parametric
resonance upto next higher order.
(c) Determine the modification to the conditions you have found above when a damping term (proportional
to angular velocity) is suitably added to the equation.
(d) Parametric resonance is also known to occur when the frequency of the support varies close to any value
2/n, (n I {0}). However, the width of the range for resonance decreases with increasing n. Verify
these facts by using n = 2 in the present problem.