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Then
dy
= 1 − απ cos π (1 − x ) (2)
dx
Thus, the total length of the path is
1 2
dy
S=∫ 1 + dx
0
dx
1
= ∫ 2 − 2απ cos π (1 − x ) + α 2π 2 cos 2 π (1 − x )
12
dx (3)
0
The integral cannot be performed directly since it is, in fact, an elliptic integral. Because α is a
small quantity, we can expand the integrand and obtain
π
2 1 1 2 2 2 1 1 2 2 2
2
S=
π ∫ 1 − απ cos u − α π cos u − απ cos u − α π cos u + … du (5)
0 2 2 8 2
If we keep the terms up to cos 2 u and perform the integration, we find
2 2 2
S= 2+ π α (6)
16
which gives
165
166 CHAPTER 6
∂S 2 2
= π α (7)
∂α 8
Therefore
∂S
=0 (8)
∂α a=0
dS = dx 2 + dy 2 (1)
If S is to be minimum, f is identified as
2
dy
f = 1+ (3)
dx
dy
where y ′ = . (4) becomes
dx
d y′
=0 (5)
dx 1 + y ′ 2
or,
y′
= constant ≡ C (6)
1 + y′2
C2
y′ = = constant ≡ a (7)
1 − C2
Then,
y = ax + b (8)
dS = dx 2 + dy 2 + dz 2 (1)
Suppose x, y, z depends on the parameter t and that the end points are expressed by
( x1 (t1 ) , y1 (t1 ) , z1 (t1 )) , ( x2 (t2 ) , y2 (t2 ) , z2 (t2 )) . Then the total distance is
t2 2 2 2
dx dy dz
S=∫ dt + dt + dt dt (2)
t1
f = x2 + y2 + z2 (3)
∂ f ∂f ∂ f
Since = = = 0 , the Euler equations become
∂x ∂y ∂z
d ∂f
=0
dt ∂x
d ∂f
=0 (4)
dt ∂y
d ∂f
=0
dt ∂z
from which we have
x
= constant ≡ C1
x2 + y2 + z2
y
= constant ≡ C2 (5)
x2 + y2 + z2
z
= constant ≡ C3
x2 + y2 + z2
From the combination of these equations, we have
x y
=
C1 C2
(6)
y z
=
C2 C3
x − x1 y − y1
=
C1 C2
(7)
y − y1 z − z1
=
C2 C3
x2 − x1 y2 − y1
=
C1 C2
(8)
y2 − y1 z2 − z1
=
C2 C3
from which we find the constants C1 , C2 , and C3 . Substituting these constants into (7), we find
x − x1 y − y1 z − z1
= = (9)
x2 − x1 y2 − y1 z2 − z1
This is the equation expressing a straight line in three-dimensional space passing through the
two points ( x1 , y1 , z1 ) , ( x2 , y2 , z2 ) .
6-4.
z
1
ρ
dS
2
y
x
φ
dS = dx 2 + dy 2 + dz 2 (1)
Substituting (3) into (1) and integrating along the entire path, we find
2 φ2
S = ∫ ρ dφ + dz =
2 2 2
∫ ρ 2 + z 2 dφ (4)
1 φ1
dz
where z = . If S is to be minimum, f ≡ ρ 2 + z 2 must satisfy the Euler equation:
dφ
∂f ∂ ∂f
− =0 (5)
∂ z ∂φ ∂ z
∂f
Since = 0 , the Euler equation becomes
∂z
∂ z
=0 (6)
∂φ ρ + z2
2
from which
z
= constant ≡ C (7)
ρ + z2
2
or,
C2
z= ρ (8)
1 − C2
Since ρ is constant, (8) means
dz
= constant
dφ
and for any point along the path, z and φ change at the same rate. The curve described by this
condition is a helix.
6-5.
z
(x2,y2)
ds
(x1,y1)
y
x
dA = 2π × ds = 2π × dx 2 + dy 2 (1)
x2
A = 2π ∫x 1 + y 2 dx (2)
x1
dy
where y = . In order to make A a minimum, f ≡ x 1 + y 2 must satisfy equation (6.39). Now
dx
∂f
= 1 + y2
∂x
∂f xy
=
∂y 1 + y2
d xy 2 d x
1 + y2 = x 1 + y2 − =
dx 1 + y2 dx 1 + y 2
1 + y 2 − xy ( dy dx ) 1 + y 2 ( )
−1 2
=
1 + y2
dx dy
− =
x y 1 + y2 ( )
Integration gives
1 y2
− ln x + ln a = ln
2 1 + y2
where ln a is a constant of integration. Rearranging gives
1
y2 =
( x a2 − 1
2
)
Integrating gives
x
y = b + a cosh −1
a
or
y−b
x = a cosh
a
which is the equation of a catenary.
SOME METHODS IN THE CALCULUS OF VARIATIONS 171
6-6.
0 θ=π
y
(x1,y1)
θ=0
2a
(x2,y2)
x
If we use coordinates with the same orientation as in Example 6.2 and if we place the minimum
point of the cycloid at (2a,0) the parametric equations are
x = a (1 + cos θ )
(1)
y = a (θ + sin θ )
Since the particle starts from rest at the point ( x1 , y1 ) , the velocity at any elevation x is [cf. Eq.
6.19]
v = 2 g ( x − x1 ) (2)
Then, the time required to reach the point ( x2 , y2 ) is [cf. Eq. 6.20]
12
x2
1 + y′2
t= ∫ dx (3)
x1 2 g ( x − x1 )
Using (1) and the derivatives obtained therefrom, (3) can be written as
θ1 12
a 1 + cos θ
t=
g ∫ cos θ − cosθ1 dθ (4)
θ2 = 0
θ
θ1 cos dθ
a
t=
g ∫ θ
2
θ1
0
cos 2 − cos 2
2 2
θ
θ1 cos dθ
a
=
g ∫ θ1
2
θ
(5)
0
sin 2
− sin 2
2 2
Making the change of variable, z = sin θ 2 , the expression for t becomes
θ1
sin
2
a dz
t=2
g ∫ θ1
(6)
0
sin 2 − z2
2
The integral is now in standard form:
172 CHAPTER 6
dx x
∫ a =x
2
= sin −1
2
a
(7)
Evaluating, we find
a
t=π (8)
g
Thus, the time of transit from ( x1 , y1 ) to the minimum point does not depend on the position of
the starting point.
6-7.
a θ1 θ1
n1
(n2 > n1)
n2
c
b θ2 v1 =
n1
c
v2 =
x n2
ds 1 + y′2
t=∫ =∫ dx (1)
v v
Although we have v = v(y), we only have dv dy ≠ 0 when y = 0. The Euler equation tells us
d y′
=0 (2)
dx v 1 + y ′ 2
Now use v = c n and y′ = –tan θ to obtain
6-8. To find the extremum of the following integral (cf. Equation 6.1)
J = ∫ f ( y , x ) dx
∂J ∂f
=∫ dx = 0
∂y ∂y
giving us a modified form of Euler’s equation. This may be extended to several variables and to
include the imposition of auxiliary conditions similar to the derivation in Sections 6.5 and 6.6.
The result is
∂J ∂g j
+ ∑ λ j ( x) =0
∂y i j ∂y i
We consider a1 , b1 , c1 as variables and V is the function that we want to maximize; (2) is the
constraint condition:
g { a1 , b1 , c1 } = 0 (3)
b) In the same way, if the parallelepiped is now circumscribed by an ellipsoid with semiaxes
a, b, c, the constraint condition is given by
a12 b12 c12
= = =1 (7)
4 a 2 4b 2 4 z 2
where a1 , b1 , c1 are the lengths of the sides of the parallelepiped. Combining (7) with (1) and
(4) gives
a12 b12 c12
= = (8)
a2 b 2 c2
Then,
2 2 2
a1 = a , b1 = b , c1 = c (9)
3 3 3
6-9. The average value of the square of the gradient of φ ( x1 , x2 , x3 ) within a certain volume V
is expressed as
1
∫∫∫ ( ∇φ )
2
I= dx1 dx2 dx3
V
1 ∂φ 2 ∂ φ 2 ∂ φ 2
v= ∫∫∫
∂x
+
∂x
+
∂x
dx1dx2 dx3 (1)
1 2 3
V
∇2 φ = 0 (4)
Therefore, φ must satisfy Laplace’s equation in order that I have a minimum value.
SOME METHODS IN THE CALCULUS OF VARIATIONS 175
6-10. This problem lends itself to the method of solution suggested in the solution of Problem
6-8. The volume of a right cylinder is given by
V = π R2 H (1)
The total surface area A of the cylinder is given by
A = Abases + Aside = 2π R 2 + 2π RH = 2π R ( R + H ) (2)
We wish A to be a minimum. (1) is the constraint condition, and the other equations are
∂A ∂g
+λ =0
∂R ∂R
(3)
∂A ∂g
+λ =0
∂H ∂H
where g = V − π R 2 H = 0 .
1
R= H (4)
2
6-11.
y
1 θ
R ds
2a
}
The constraint condition can be found from the relation ds = Rdθ (see the diagram), where ds is
the differential arc length of the path:
( )
12
ds = dx 2 + dy 2 = Rdθ (1)
1 + 4a 2 x 2 dx = Rdθ (2)
If we want the equation of constraint in other than a differential form, (2) can be integrated to
yield
A + Rθ =
x
2
4 ax 2 + 1 +
1
4a
(
ln 2ax + 4 a 2 x 2 + 1 ) (3)
where A is a constant obtained from the initial conditions. The radius of curvature of a parabola,
y = ax 2 , is given at any point (x,y) by r0 ≥ 1 2a . The condition for the disk to roll with one and
only one point of contact with the parabola is R < r0 ; that is,
176 CHAPTER 6
1
R< (4)
2a
s = ∫ ds = ∫ 1 + y ′ 2 + z ′ 2 dx (1)
d y′ dg
=λ = 2λ y (3)
dx 1 + y ′ 2 + z ′ 2 dy
with a similar equation for z. Eliminating the factor λ, we obtain
1 d y′ 1 d z′
− =0 (4)
y dx 1 + y ′ 2 + z ′ 2 z dx 1 + y ′ 2 + z ′ 2
This simplifies to
( ) ( )
z y ′′ 1 + y ′ 2 + z ′ 2 − y ′ ( y ′y ′′ + z ′z ′′ ) − y z ′′ 1 + y ′ 2 + z ′ 2 − z ′ ( y ′y ′′ + z ′z ′′ ) = 0 (5)
zy ′′ + ( yy ′ + zz ′ ) z ′y ′′ − yz ′′ − ( yy ′ + zz ′ ) y ′z ′′ = 0 (6)
This looks to be in the simplest form we can make it, but is it a plane? Take the equation of a
plane passing through the origin:
Ax + By = z (8)
and make it a differential equation by taking derivatives (giving A + By′ = z′ and By″ = z″) and
eliminating the constants. The substitution yields (7) exactly. This confirms that the path must
be the intersection of the sphere with a plane passing through the origin, as required.
6-13. For the reason of convenience, without lost of generality, suppose that the closed curve
passes through fixed points A(-a,0) and B(a,0) (which have been chosen to be on axis Ox). We
denote the part of the closed curve above and below the Ox axis as y1 ( x ) and y2 ( x ) respectively.
(note that y1 > 0 and y2 < 0 )
∫{ }
a a a a
K ( y1′ , y2′ ) = ∫ 1 + ( y1′ ) dx + ∫ 1 + ( y2′ ) dx = 1 + ( y1′ ) + 1 + ( y1′ ) dx = ∫ g ( y1′ , y2′ ) dx
2 2 2 2
−a −a −a −a
Then the generalized versions of Eq. (6.78) (see textbook) for this case are
∂f d ∂f ∂g d ∂g d y1′
− +λ − = 0 ⇒ 1− λ =0 (1)
∂y1 dx ∂y1′ ∂y1 dx ∂y1′ dx 1 + ( y1′ )
2
∂f d ∂f ∂g d ∂g d y2′
− +λ − = 0 ⇒ 1− λ =0 (2)
∂y2 dx ∂y2′ ∂y2 dx ∂y2′ dx 1 + ( y2′ )
2
6-14. It is more convenient to work with cylindrical coordinates (r, φ ,z) in this problem. The
constraint here is z = 1 – r , then dz = –dr
ds2 = dr 2 + r 2 dφ 2 + dz 2 = 2 ( dr 2 + r 2 dβ 2 )
φ
where we have introduced a new angular coordinate β =
2
In this form of ds2 , we clearly see that the space is 2-dimensional Euclidean flat, so the shortest
line connecting two given points is a straight line given by:
r0 r0
r= =
cos ( β − β 0 ) φ − φ0
cos
2
π
this line passes through the endpoints (r = 1, φ = ± ) , then we can determine unambiguously
2
the shortest path equation
π
cos
r(φ ) = 2 2 and z = 1 – r
φ
cos
2
178 CHAPTER 6
−π 2
6-15.
1
dy 2
I[ y] = ∫ − y 2 dx
0 dx
6-16.
a) S is arc length
2 2 2
dy dz dy 9
S = ∫ dx 2 + dy 2 + dz 2 = ∫ dx 1 + + = ∫ dx 1 + + x = ∫ L dx
dx dx dx 4
Treating S and L like a mechanical action and Lagrangian respectively, we find the canonical
momentum associated with coordinate y
dy
δL
p= = dx
dy 9 dy
2
δ 1+ x+
dx 4 dx
Because L does not depend on y explicitly, then E-L equation implies that p is constant
(i.e. dp dx = 0 ), then the above equation becomes
9
1+ x 32
dy 4 ⇒y = p 9 9
1 − p2 ∫
=p dx 1 + x = A 1 + x +B
dx 1 − p2 4 4
where A and B are constants. Using boundary conditions (x = 0, y = 0) and (x = 1, y = 1) one can
determine the arc equation unambiguously
SOME METHODS IN THE CALCULUS OF VARIATIONS 179
32
8 9
y( x ) = 3 2 1 + x − 1 and z = x3 2
13 − 8 4
b)
z
0.75
0.5 x
0.25 1
y 0.
0.75
0
1 0.5
0.75 0.25
0.5
0.25
00
6-17.
a) Equation of a ellipse
x2 y2
+ =1
a2 b2
which implies
ab 2xy x 2 y 2
xy ≤ because ≤ 2 + 2
2 ab a b
so the maximal area of the rectangle, whose corners lie on that ellipse, is
Max[A] = Max[4xy] = 2 iab.
This happens when
a b
x= and y=
2 2
b) The area of the ellipse is A0 = π ab ; so the fraction of rectangle area to ellipse area is then
Max[ A] 2
=
A0 π
6-18. One can see that the surface xy = z is “locally” symmetric with respect to the line
x = − y = −z where x > 0, y < 0, z < 0. This line is a parabola. This implies that if the particle
starts from point (1,-1,-1) (which belongs to the symmetry line) under gravity ideally will move
downward along this line. Its velocity at altitude z (z < –1) can be found from the conservation
of energy.
v( z) = −2 g( z + 1)
180 CHAPTER 6