LAGRANGE’S EQUATIONS FOR IMPULSIVE

FORCES

Principle of Impulse and Momentum >>

Generalized in the Lagrangian formalism.

During impact : Very large forces are generated

over a very small time interval. ~ Not a practical matter

to record these forces over the very small time

>>> Instantaneous form of Newton’s Second Law is of

 little use in impact problems.

>>> Eqns of motion are integrated over the time

interval of impact.
t0 +∆t
F̂= ∫
t0
∑ F(t )dt

By the Principle of Impulse and Momentum,

velocities change by a finite amount over the time

interval ∆t . As long as the time interval is taken

infinitesimally small, the displacements do not change

and hence remain continuous.

Therefore, Impulsive force ~

Finding velocity change immediately after the impact..

without displacement change

Integrating Lagrange’s eqns of motion for holomic

systems over the time interval between t1 = t0 and
t2= t0 + ∆t , we have
 t2 d  ∂T  t2 ∂T t2
∫t1

dt  ∂qk
 dt − ∫t1 =
 ∂qk
dt ∫t1
Qk dt , =k 1, 2, , n (2.97)

Now letting ∆t → 0 ,

∂T ∂T
− = Qˆ k =
k 1, 2, , n
∂qk 2 ∂qk 1 (2.98)

Second term on the left-hand side of Eqn (2.97) vanishes,

since the generalized coordinates are continuous and the

generalized velocities remain bounded during the impact.

The integral on the right-hand side of Eqn (2.97) is the

generalized impulse Qˆ k .

The impulsive form of Lagrange’s eqns (2.98) can also be

=
∆pk Qˆ k , =k 1, 2, , n (2.99)

relating the change in generalized momentum pk to the

applied generalized impulse Qˆ k . Since the generalized

momenta are polynomials in the generalized velocities,

there is no need to solve any differential equations to

obtain the velocities immediately after impact.

Computation of the generalized impulses is formally

identical to finding generalized forces. At any instant, the

virtual impulsive energy acquired by the system under

virtual displacements compatible with the constraints is

 n
δ Wˆ = ∑ Qˆ jδ q j
j =1

As with generalized forces, the independent degrees of

freedom are incremented one at a time to determine the

individual contributions to δ Ŵ .

Ex: A four-bar linkage constrained to slide smoothly

along the the x-direction

(Fig. 2.17). The system has two degrees of freedom and as

generalized coordinates we can take the location of the

center of mass, x1 , and the angle θ . We assume that the

mechanism is at rest when an impulse F̂ is suddenly

applied, at point A, in the x-direction.

Solving this problem by vector methods involves

calculation of the linear and angular momenta of the

system and invoking the momenta are easily derived

from the kinetic energy of the system.

The generalized impulses are formally computed as if

they were generalized forces.

The kinetic energy of the system is

8
=T 2mx12 + mb 2θ 2
3
The generalized momenta conjugate to x1 and θ,

respectively, are

16 2 
= mx1 ,
px1 4= pθ mb θ
3
Similar to computing virtual work, we consider the

independent virtual displacements

x1 → x1 + δ x1 , δθ= 0 and δ x1= 0,θ → θ + δθ

The virtual impulsive energy becomes

δ Wˆ Qˆ x1δ x1 + Qˆθ δθ
=

in which the generalized impulses are

Qˆ x1 = Fˆ , Qˆθ = 2b sin θ Fˆ

Since the system starts from rest, substitution of the

above into Lagrange’s equations for implusive systems

(2.99) results in the acquired generalized velocities

 Fˆ 3sin θ ˆ
x1 = θ = F
4m , 8mb

Practice 1
A horizontal rod of mass m and length 2L falls under
gravity and strakes a knife edge loaded one half of the way
from the center to end of the rod. It’s velocity just before
impact is v . Coefficient of restitution between rod and
knife edge is e.

a. Velocity of the center of mass

b. Angular velocity immediately after the rod strikes the
ground.
Sol: Assume the impulse is applied at the impact.

1  2  2 1 2
Total enegy at any instant : =
T m( x c + y c ) + I θ
2 2

1
Virtual work of impulse : δ W = Fˆ (δ yc + Lδθ ) = Qˆ x δ xc + Qˆ y δ yc + Qˆθ δθ
2 c c

1 ˆ
=
Qˆ
~ xc =
0, ˆ
Q yc Fˆ=ˆ
,Q θ LF
2
Change of generalize Momentum:
  
∆(m x c ) = m xc = 0 − − − (1) : x c = 0
 
∆ ( m y c ) = m( y + v ) = Fˆ − (2)
  L ˆ 1
∆ ( I θ=
) θ
I= F − − − (3) : (=
I mL2 )
2 3

L   L 
And .. y c + θ= ev >>>> y=
c ev − θ − −(4)
2 2
 2 
=
(4) :θ (ev − yc ) − −− > (3)
= Fˆ ...
L
 v  6
: y c = (4e − v )..θ = (1 + e)v
7 7L
Practice 2

Rinked pair of rode on a smooth horizontal plane

m : Mass..of ..each..bar

F : Sharp..blow..at..the..right..end
x, y : Coordnates..of ..the..link
I : Moment..of ..inertia..wrt..the..center..of ..mass..of ..each..rod

1   1   1  2  2
T= mr1 r1 + mr2 r2 + I (θ 1 + θ 2 )
2 2 2
m 2
=
where.. I =a mr 2 ( radus..of ..gyration)
3
          
r1 = R + ρ1.. r1 = R + ρ1 = R + ω1 × ρ1..( ω1 = k θ1 )
     
ρ1 = a ( −i cos θ1 , − j sin θ1 ),..R =xi + yj
   

ω × ρ = aθ ( − j cos θ , i sin θ )
1 1 1 1 1

At the instance when impulse acts, θ1 − > 0

  
(ω1 × ρ1 )θ1 −> 0 
− aθ1 j
=
Hence
  

 + ( y − aθ1 ) j
r1 = xi
So
 
r1 • r1 = x 2 + ( y − aθ1 ) 2

Similarly,

 
r2 • r2 = x 2 + ( y + aθ2 ) 2

Therefore
 1  2 1  2
=
T m[ x 2 + ( y − aθ1 ) 2 + r 2 θ 1 ] + m[ x 2 + ( y + aθ2 ) 2 + r 2 θ 2 ]
2 2

The virtual displacement of the right end point


( Hitted by F ) is

δ y=
c δ y + 2aδθ 2

The virtual work statement is

δ
= W Fδ
= yc F δ y + 2aF δθ 2
ˆ δx+Q
=Q ˆ δ y+Q ˆ δθ + Q ˆ δθ
x y θ1 1 θ2 2

∴Q
ˆ=
x
ˆ=
0, Q y
ˆ =
F,Qθ1
ˆ =
0, Qθ2 2aF

Hence

∆= ˆ ..(=
pj Q j j 1,....., n)
∆px = 0...2mx = 0 → x = 0.
p y F ..m( y − aθ1 ) + m( y + aθ
∆= =) F
2

 2   3 y
∆pθ1 =0.. − ma ( y − aθ1 ) + mr θ1 =0 → θ1 =
4a
3 2 F − my
∆pθ2 = 2aF ..ma ( y + aθ2 ) + mr 2θ2= 2aF → θ2=
4 ma
F  3F  9F
∴ x =0, y =− , θ1 =− ,θ 2 =
m 4m 4ma

There are the velocities resulting from the impact !

ELECTROMECHANICAL ANALOGIES

The Lagrangian formalism is based on energy and

therefore has applicability that goes far beyond simple
mechanical systems (Fig. 2.18). A very practical extension
of the theory is to electrical circuits and combined
electromechanical systems. A direct application of
Lagrangian’s equations to electrical circuits is based on
the parameters given in Table 2.1. Energy carried by an
inductor coil is