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1
2 Scenario in Rectangular Coordinates
Given the inertial coordinates system R
[O;
i,
j,
, yet ro-
tates around z-axis relative to R
i + y
j + z
k +
k
_
x
i + y
j + z
k
_
= ( x y)
i + ( y + x)
j + z
k
(1)
The particle is non-relativistic, so the kinetic energy is:
T =
1
2
mv v
=
1
2
m
_
( x y)
2
+ ( y + x)
2
+ z
2
=
1
2
m
_
x
2
+ y
2
+ z
2
_
+
1
2
m
2
_
x
2
+ y
2
_
+ m (x y xy)
(2)
and the Lagrange function is:
L = T V
=
1
2
m
_
x
2
+ y
2
+ z
2
_
+
1
2
m
2
_
x
2
+ y
2
_
+ m (x y xy) V (x, y, z)
(3)
Thus
L
x
= m
2
x + m y
V
x
(4a)
L
x
= m x my (4b)
L
y
= m
2
y m x
V
y
(4c)
L
y
= m y + mx (4d)
L
z
=
V
z
(4e)
L
z
= m z (4f)
According to Lagranges dynamical equation for conservative elds
d
dt
_
L
q
i
_
L
q
i
= 0 (5)
2
The concrete components will be
m x =
V
x
+ m
2
x + 2m y (6a)
m y =
V
y
+ m
2
y 2m x (6b)
m z =
V
z
(6c)
Hence Eqs6 are the absolute dynamical equations for m relative to R
.
On the other hand, if the observer locates in the rotating reference R, where the
angular velocity vanishes due to co-moving, one will nd the kinetic and potential
energy to be
T =
1
2
m
_
x
2
+ y
2
+ z
2
_
, V = V (x, y, z) (7)
respectively. Its apparent that T V from Eq7 isnt identical to Eq3. As is known,
for the same set of generalized coordinates, the Lagrange function is determined and
unique, independent from the motional states of the coordinates systems. Thus, via
comparison between Eq3 and Eq7, one could conclude the Lagrangian function for R
reference to be:
L =
1
2
m
_
x
2
+ y
2
+ z
2
_
V (x, y, z)
_
1
2
m
2
_
x
2
+ y
2
_
m (x y xy)
_
= T V U
(8)
where
U =
1
2
m
2
_
x
2
+ y
2
_
m (x y xy) (9)
is the generalized potential energy(GPE). This term is said to be generalized because U
depends on not only the generalized coordinates, but also their one-order derivatives,
i.e. the generalized velocities, while Eq5 dedicates only to systems that are workless,
holonomic and conservative. An energy term in Lagrange function such as U conjugates
with certain generalized force (GF) Q. However, in R reference it comes up with
centrifugal and Coriolis forces due to Newton mechanism at the same time. As is to
be veried below, the GF Q conjugating with U agrees with the resultant of these two
inertial forces, or in other words, the two inertial forces leads to the GPE U. The
components of Q conjugating with U above read:
Q
x
=
d
dt
_
U
x
_
U
x
= m
2
x + 2m y (10a)
Q
y
=
d
dt
_
U
y
_
U
y
= m
2
y + 2m x (10b)
3
Q
z
=
d
dt
_
U
z
_
U
z
= 0 (10c)
Or
Q =
_
m
2
x + 2m y
_
i +
_
m
2
y 2m x
_
j (11)
The resultant of the centrifugal and Coriolis forces are:
m ( r) 2m v
=
_
m
2
x
i + m
2
y
j
_
_
2m y
i + 2m x
j
_
=
_
m
2
x + 2m y
_
i +
_
m
2
y 2m x
_
j
(12)
which is identical to Q perfectly. Hence, as for the non-relativistic particle m at motion
relative to the rotating reference R, one runs into two inertial forces by Newton mech-
anism, or into GPE U. The GF Q associated with U agrees with the resultant of the two
inertial forces, and inversely, due to non-conservation, [m ( r) 2m v] =
0, the two inertial forces result in the non-conservative GPE U.
Now lets conduct the same process in spherical coordinates system.
3 Scenario in Spherical Coordinates
Relative to the reference frame R
, e
i,
j,
+ r sin e
+ r e
r
(13)
= (cos e
r
sin e
) (14)
respectively. Insert Eq14 into Eq13 to get:
v = r e
r
+ r
e
+ (r sin + r sin ) e
(15)
Hence the kinetic energy and Lagrangian function for m read:
T =
1
2
mv v
=
1
2
m
_
r
2
+ r
2
2
+ (r sin + r sin )
2
_
=
1
2
m
_
r
2
+ r
2
2
+ r
2
2
sin
2
+
2
r
2
sin
2
+ 2r
2
sin
2
_
(16)
4
L = T V
=
1
2
m
_
r
2
+ r
2
2
+ r
2
2
sin
2
_
+
1
2
m
_
2
r
2
sin
2
+ 2r
2
sin
2
_
V (r)
(17)
Hence
L
r
= mr
2
+ mr
2
sin
2
+ m
2
r sin
2
+ 2mr sin
2
V
r
(18a)
L
r
= m r (18b)
L
=
1
2
mr
2
2
sin 2 +
1
2
m
2
r
2
sin 2 + mr
2
sin 2 (18c)
L
= mr
2
(18d)
L
= 0 (18e)
L
= mr
2
sin
2
+ mr
2
sin
2
(18f)
Then the components of Lagrange equation Eq5 are
m r =
V
r
+ mr
2
+ mr
2
sin
2
+ m
2
r sin
2
+ 2mr sin
2
(19a)
mr
2
= 2mr r
+
1
2
mr
2
2
sin 2 +
1
2
m
2
r
2
sin 2 + mr
2
sin 2 (19b)
mr
2
sin
2
= 2mr r sin
2
mr
2
2
+ r
2
2
sin
2
_
, V = V (r) (20)
For the generalized coordinates {r, , }, the Lagrange function is determined and
unique. To make Eq20 in agreement with Eq17, we put forward the GPE term U
U =
1
2
m
_
2
r
2
sin
2
+ 2r
2
sin
2
_
(21)
to attain
L = T V U
=
1
2
m
_
r
2
+ r
2
2
+ r
2
2
sin
2
_
V (r)
_
1
2
m
_
2
r
2
sin
2
+ 2r
2
sin
2
_
_
(22)
5
According to Eq21, its clear that U, being non-conservative, depends not only on r, but
also on the generalized coordinate and the generalized velocity
. The components of
the conjugating GF Q are
Q
r
=
d
dt
_
U
r
_
U
r
= m
2
r sin
2
+ 2mr sin
2
(23a)
Q
=
d
dt
_
U
=
1
2
m
2
r
2
sin 2 + mr
2
sin 2 (23b)
Q
=
d
dt
_
U
_
= 2mr r sin
2
mr
2
sin 2 (23c)
while the centrifugal force is
m ( r) = m
2
r sin
2
e
r
+
1
2
m
2
r sin 2 e
(24)
And the Coriolis force is
2m v = 2m(cos e
r
sin e
) ( r e
r
+ r
e
+ r sin e
)
= 2mr sin
2
e
r
+ mr sin 2 e
(25)
Hence, the components of the resultant of the two inertial forces are:
F
r
= m
2
r sin
2
+ 2mr sin
2
(26a)
F
=
1
2
m
2
r sin 2 + mr sin 2 (26b)
F
= 2m r sin 2mr
cos (26c)
In spherical coordinates, the transformational relations between the generalized force
and the ordinary force are:
Q
r
= F
r
, Q
= rF
, Q
= r sin F
(27)
Comparing Eq23, Eq26 and Eq27, one immediately concludes that the GF Q is equal
to the resultant of the two inertial forces .
4 Discussions and Extensions
With rectangular and spherical coordinates respectively, we have performed Lagrange
analysis on the dynamical process of the non-relativistic particles at general motion
in uniformly rotating references. Based on energy terms, the complex analyzing of
ordinary forces is avoided. As is commented above, the problem of inertial forces
in Newtonian mechanism becomes the problem of non-conservative GPE in Lagrange
mechanism, and the conjugating GF identies with the resultant of the inertial forces.
6
However, further algebra as below shows that, non-conservative elds resulting from
centrifugal and Coriolis forces are countless, and U in Eq9 is simply a particular case,
yet the only eective one. Eq9 is made up of two dierent components, each of which
is self-symmetric:
U = U
1
+ U
2
, U
1
=
1
2
m
2
(x
2
+ y
2
), U
2
= m(x y xy) (28)
U
1
is the centrifugal potential energy resulting from the centrifugal inertial force, which
depends only on the generalized coordinates. Since the R reference rotates around the
xed z-axis in R
F
L
is non-conservative, too. And
B =
A, where
A is the magnetic vectorial
potential. Its proved that the generalized Lagrange potential energy corresponding to
F
L
= qv
B = qv (
A) is [2]:
U = qv
A (29)
Similarly, lets represent as =
A. Considering =
k, hence
A
1
= y
i,
A
2
=
x
j or
A
3
=
1
2
(y
i + x
k = , (i = 1, 2, 3). Yet,
A
3
is actually half of the sum of
A
1
and
A
2
, i.e.
A
3
=
1
2
_
A
1
+
A
2
_
, so with a resembling
method, such as the sum of
1
n
A
1
and
n1
n
A
2
, we could generate numerous candidates
of
A, which satises =
k =
A, and
F
C
= 2mv = 2mv (
A). Similar
to Eq29, we attain the generalized Lagrange potential energy corresponding to
F
C
:
U
2
= 2mv
A (30)
For a unique
F
C
, due to the diversity of
A, U
2
is not unique at all, so does U = U
1
+U
2
.
However, only one of the numerous GPEs generated by
F
C
is eective for the identity
of Lagrange functions in rest inertial reference R