Indian Institute of Technology, Tirupati

Department of Physics
PH104L: Introduction to Classical Mechanics

Instructor: Dr. Kapildeb Dolui Date: 24/03/2026

Tutorial-5 Solutions

1. Two blocks of masses m1 and m2 connected by a light spring rest on a horizontal

plane. If the coefficient of friction between the blocks and the surface is equal to
µ, determine the minimum constant force which has to be applied in the horizontal
direction to the block of mass m1 in order to shift the other block.

Solution: Let F be the constant horizontal force applied to m1 . Work done by F is

partially stored in the spring, partially dissipated by friction.
According to work-energy theorem:
1
F x = kx2 + µm1 g x (1)
2
For the block m2 to move, the force exerted by the spring (fs ) must overcome the
friction force. If x is the extension of the spring:

fs = kx ≥ µm2 g (2)

Required extension is:

m2 g
x= (3)
k
Substituting x on equation (1) gives:
m2
F = µg(m1 + ) (4)
2

2. Consider an Atwood machine consisting of two masses m1 and m2 connected by a

light inextensible string passing over a frictionless and massless pulley.

(a) Choose suitable generalized coordinates to describe the system and hence determine
the number of degrees of freedom.

Solution: Let x1 and x2 be the vertical positions of the masses measured downwards
from the center of the pulley.
 The positions are related by the length of the string l:

x1 + x 2 = l (5)

Since the position of one mass completely determines the position of the other, we
choose a single generalized coordinate q = x, where:
• x1 = x
• x2 = l − x
The number of degrees of freedom (DOF) is calculated as:

DOF = (Number of coordinates) − (Number of constraints) = 2 − 1 = 1 (6)

The system has one degree of freedom.

(b) Write down the constraint equation for the system and classify the constraint as
holonomic or non-holonomic, and scleronomic or rheonomic.

Solution: The constraint equation is derived from the constant length of the inex-
tensible string:
f (x1 , x2 ) = x1 + x2 − l = 0 (7)

Classification:
1. Holonomic: The constraint depends only on the coordinates x1 , x2 and can be
expressed in the form f (qi , t) = 0.
2. Scleronomic: The constraint does not depend explicitly on time t, as the pulley
is fixed and the string length is constant.
(c) Using the Lagrangian formalism, derive the equation of motion for the system and
obtain the acceleration of the masses.

Solution:
Both masses move with the same magnitude of velocity ẋ.
Kinetic energy (T) of the system :
1 1 1
T = m1 ẋ21 + m2 ẋ22 = (m1 + m2 )ẋ2 (8)
2 2 2

Potential Energy (V ):
Taking the pulley level as the reference (V = 0):

V = −m1 gx1 − m2 gx2 = −m1 gx − m2 g(l − x) (9)

The Lagrangian (L):

1
L = T − V = (m1 + m2 )ẋ2 + m1 gx + m2 g(l − x) (10)
2

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 Euler-Lagrange Equation:
 
d ∂L ∂L
− =0 (11)
dt ∂ ẋ ∂x
Calculating the components:

• ∂L d ∂L


∂ ẋ
= (m1 + m2 )ẋ =⇒ dt ∂ ẋ
= (m1 + m2 )ẍ
• ∂L
∂x
= m1 g − m2 g

Substituting into the Euler-Lagrange equation:

(m1 + m2 )ẍ − (m1 g − m2 g) = 0 (12)

Solving for ẍ (the acceleration a):

m1 − m 2
a= g (13)
m1 + m 2

3. Two heavy particles of weights W1 and W2 are connected by a light inextensible

string and hang over a fixed smooth circular cylinder of radius R, the axis of which
is horizontal (see Fig 3). What is the generalized coordinate in this system?

Solution:
Solution:
Let the two particles have weights W1 and W2 , and let the angles subtended by the
string on the cylinder be θ and ϕ, respectively.
Since the string is light and inextensible, the total length of the string in contact with
the cylinder remains constant. Therefore, we have the constraint:

θ + ϕ = constant

This is a holonomic constraint relating θ and ϕ. Hence, only one independent coor-
dinate is sufficient to describe the configuration of the system. We may choose:

q=θ

as the generalized coordinate. Therefore, the system has one degree of freedom.

Equilibrium Condition:
Using the principle of virtual work, for equilibrium:
2
X
F⃗i · δ⃗ri = 0
i=1

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 Only the weights do work (normal reactions do no work), hence:

W1 sin θδr1 + W2 sin ϕδr2 = 0

The displacements along the cylinder are related to angular displacements as:

δr1 = Rdθ, δr2 = Rdϕ

Substituting:
W1 sin θRdθ + W2 sin ϕRdϕ = 0

Dividing by R:
W1 sin θdθ + W2 sin ϕdϕ = 0

Using the constraint θ + ϕ = constant, we have:

dϕ = −dθ

Substituting:
(W1 sin θ − W2 sin ϕ)dθ = 0

For non-zero virtual displacement (dθ ̸= 0), the equilibrium condition is:

W1 sin θ = W2 sin ϕ

or equivalently,
W1 sin ϕ
=
W2 sin θ
4. A particle of mass m moves in three-dimensional space with potential energy, V and
its position is described by spherical polar coordinates (r, θ, ϕ).

(a) Starting from the Cartesian (x, y, z) expression for Lagrangian, L = T − V and
Hamiltonian, H = T + V , derive the expression for the L, and H in spherical polar
coordinates.

(b) Write down the generalized momentum both in cartesian and spherical polar coordi-
nates.
Solution:
In cartesian coordinates:
Kinetic energy of the particle T = 12 m (ẋ2 + ẏ 2 + ż 2 ); Potential energy of the particle
V = V (x, y, z)

Lagrangian L = T − V = 21 m (ẋ2 + ẏ 2 + ż 2 ) − V (x, y, z)

∂L
Generalized momentum pk =
∂ q̇k

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 ∂L px py pz
Hence, px = = mẋ or ẋ = ; Similarly ẏ = and ż =
∂ ẋ m m m
X
Hamiltonian H = pk q̇k − L
k

For k = x, y, z
1
H = px ẋ + py ẏ + pz ż − m ẋ2 + ẏ 2 + ż 2 + V (x, y, z)


2
p2x p2y p2z 1
p2x + p2y + p2z + V (x, y, z)


H= + + −
m m m 2m
1
p2x + p2y + p2z + V (x, y, z)


H=
2m
In spherical coordinates :

x = r sin θ cos ϕ, y = r sin θ sin ϕ, z = r cos θ

Hence,
ẋ = ṙ sin θ cos ϕ + rθ̇ cos θ cos ϕ − r sin θϕ̇ sin ϕ
ẏ = ṙ sin θ sin ϕ + rθ̇ cos θ sin ϕ + r sin θϕ̇ cos ϕ
ż = ṙ cos θ − rθ̇ sin θ

Thus, L = T − V = 21 m(ẋ2 + ẏ 2 + ż 2 ) − V (x, y, z) or

1  
L = m ṙ2 + r2 θ̇2 + r2 sin2 θ ϕ̇2 − V (r, θ, ϕ)
2

Therefore, generalised momentum is:

∂L pr pθ pϕ
pr = = mṙ or ṙ = ; Similarly θ̇ = and ϕ̇ =
∂ ṙ m mr2 mr2 sin2 θ
X 1
Now H = pk q̇k − L = pr ṙ + pθ θ̇ + pϕ ϕ̇ − m(ṙ2 + r2 θ̇2 + r2 ϕ̇2 sin2 θ) − V (r, θ, ϕ)
k=r,θ,ϕ
2
or
p2θ p2ϕ
 
1 2
H= pr + 2 + 2 2 + V (r, θ, ϕ)
2m r r sin θ
(c) Identify the cyclic coordinates if potential V only depends on radial coordinates,
V = V (r). Using the Lagrange equation of motion, determine the conserved quantity.

Solution:
Using the spherical coordinates derived previously, the Lagrangian for a particle of
mass m in a central potential V (r) is:
1  2 2 2 2 2 2

L = m ṙ + r θ̇ + r sin θ ϕ̇ − V (r)
2

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 ∂L
Here ϕ is a cyclic coordinate because =0
∂ϕ
According to Lagrange’s equations of motion:
 
d ∂L ∂L
− =0
dt ∂ q̇k ∂qk
∂L
For the cyclic coordinate ϕ, we know = 0. Therefore:
∂ϕ
 
d ∂L
=0
dt ∂ ϕ̇

This implies that the generalized momentum pϕ is a constant of motion (conserved):

∂L
pϕ = = constant
∂ ϕ̇

5. BONUS QUESTION: A pendulum of mass m is attached to a block of mass M. The

block slides on a horizontal frictionless surface. Find the Lagrangian and the equation
of motion of the pendulum. For small amplitude oscillations, derive an expression
for periodic time.

Solution: Let at any time t the coordinates of M and m be (x1 , 0) and (x2 , y2 )
respectively.
Here, x2 = x1 + l sin θ and y2 = −l cos θ

1 1
T = M ẋ21 + m(ẋ22 + ẏ22 )
2 2
1 1
= M ẋ21 + m(ẋ21 + l2 θ̇2 + 2lẋ1 θ̇ cos θ)
2 2
(because ẋ2 = ẋ1 + lθ̇ cos θ and ẏ2 = lθ̇ sin θ)

V = −mgl cos θ

Hence,
1 1
L = T − V = (M + m)ẋ21 + ml2 θ̇2 + mlẋ1 θ̇ cos θ + mgl cos θ
2 2

Here, ∂x
∂L
1
= 0, ∂∂L ẋ1
= (M + m)ẋ1 + mlθ̇ cos θ,
∂L
∂θ
= −mlẋ1 θ̇ sin θ − mgl sin θ and ∂L
∂ θ̇
= ml2 θ̇ + mlẋ1 cos θ
Equation of motion in θ is:

ml2 θ̈ + mlẍ1 cos θ + mgl sin θ = 0

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If θ is small, sin θ ∼
= θ and also cos θ ∼
= 1, then

ml2 θ̈ + mlẍ1 + mglθ = 0

ẍ1 g
or θ̈ + + θ=0 . . . (i)
l l
Equation of motion in x1 is

(M + m)ẍ1 + ml(θ̈ cos θ − θ̇2 sin θ) = 0

For small θ, (cos θ ∼

= 1, sin θ ∼
= θ and θ̇2 θ is negligible)

(M + m)ẍ1 + mlθ̈ = 0 . . . (ii)

From equations (i) and (ii), we have

 
M +m g
θ̈ = − θ . . . (iii)
M l

This is the equation of simple harmonic motion whose period is given by

s
l M
T = 2π
gM +m

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