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Lagrangian Mechanics

Manual: General · Subject: Classical Mechanics

Generalised coordinates and the Euler-Lagrange equation

The Lagrangian Formulation

Action and the Lagrangian

The Lagrangian is L=T−VL = T - V. The principle of stationary action states that physical trajectories extremise the action S=∫t1t2L dtS = \int_{t_1}^{t_2} L\, dt.

This gives the Euler-Lagrange equation for each generalised coordinate qiq_i:<br>ddt∂L∂q˙i−∂L∂qi=0\frac{d}{dt}\frac{\partial L}{\partial \dot{q}_i} - \frac{\partial L}{\partial q_i} = 0<br>Constraint forces vanish automatically — only the coordinates matter.

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Noether's Theorem

Every continuous symmetry of the Lagrangian corresponds to a conserved quantity. Time-translation symmetry → energy conservation. Spatial translation → momentum conservation. Rotational symmetry → angular momentum conservation.

For a 1D harmonic oscillator L=12mx˙2−12kx2L = \frac{1}{2}m\dot{x}^2 - \frac{1}{2}kx^2, the E-L equation gives:

Noether's theorem states that a cyclic coordinate qiq_i (where ∂L/∂qi=0\partial L / \partial q_i = 0) implies:

Write the Lagrangian for a simple pendulum (mass mm, length ll, angle θ\theta, no friction).