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Constraint and example. A holonomic constraint can be written $f_{\alpha }(q_1,\dots ,q_n,t)=0$, with no irreducible dependence on velocities. A velocity relation is holonomic if it integrates to such an equation. For example, a particle constrained to a stationary circle satisfies $x^2+y^2={\ell }^2$, reducing its two Cartesian degrees of freedom to one angle. A nonholonomic constraint cannot be integrated in this way.

Kinematics and kinetic energy. Set $d=R-r>0$. In the plane of the original diagram, choose the orbital angle $\theta$ positive counterclockwise from vertically downward. The marked radius of the inner cylinder then has absolute orientation $\alpha =\theta -\varphi$ measured from the same downward direction. Its signed spin angular velocity is $\Omega =\dot{\theta }-\dot{\varphi }$, whileThe moment of inertia of a uniform solid cylinder is $I=m{r}^2/2$. Applying the kinetic energy decomposition about the center of mass gives

No slip. With tangential unit vector ${\mathbf{e}}_{\theta }=(\cos \theta ,\sin \theta )$, the inner contact point has velocity $(d\dot{\theta }+r\Omega ){\mathbf{e}}_{\theta }$. The fixed wall requires this to vanish. HenceBecause $r,R$ are constant, integration giveswhere the integration constant is zero with the marked-dot reference in the diagram and continuously unwrapped angles. This is a holonomic constraint, even though it was first obtained from a condition on velocities.

Oscillations. The gravitational potential energy above the lowest position is $V=mgd(1-\cos \theta )$. Eliminating $\varphi$ gives the reduced LagrangianThe Euler-Lagrange equation becomesThus the bottom is a stable equilibrium, and for $|\theta |\ll 1$ there is simple harmonic motion, withThe extra rotational kinetic energy reduces the frequency compared with a particle sliding without friction along the same circular path. The small oscillations inside a circular cylinder formula applies with inertia ratio $\gamma =1/2$.

Friction and energy. Let $F_t$ be the signed tangential contact force in the ${\mathbf{e}}_{\theta }$ direction. Applying Newton's second law to translation and the torque equation to rotation givesUsing the rolling without slipping condition yieldsExcept at special instants, static friction is needed to produce the spin acceleration. There is no sliding at the contact point, whose instantaneous velocity is zero; therefore this force does no total work. Its translational and rotational powers cancel: $F_{t}d\dot{\theta }+F_{t}r\Omega =0$. The stationary normal reaction likewise does no work. With a rigid wall, adequate static friction, and no rolling resistance, conservation of energy gives

Angular momentum. The cylinder's spin angular momentum $I\Omega$ is generally not conserved because the contact friction exerts a torque about its center of mass. About the fixed outer-cylinder center $O$, the angular momentum decomposition about the centre of mass givesGravity and friction exert the external torqueThus the rolling cylinder does not generally conserve angular momentum, although it conserves mechanical energy. There is a special geometric cancellation at $R=3r/2$: then $L_O$ and its torque vanish identically for this planar motion. Angular momentum of a larger isolated system including the wall and Earth is a separate conservation statement.

Scope of the holonomic reduction. The integrated constraint is exact at every angle for planar rolling without slipping with sustained contact; it is not restricted to small oscillations. Completing a full turn requires tracking angle winding rather than reducing each angle separately modulo $2\pi$. This global bookkeeping does not make the local velocity relation nonintegrable.

However, arbitrary initial conditions need not sustain this ideal rolling motion. The inward normal reaction and the required friction areContact requires $N\ge 0$, and a finite coefficient ${\mu }_s$ of static friction requires $|F_t|\le {\mu }_{s}N$. If either fails, the cylinder detaches or slips and the one-coordinate rolling Lagrangian no longer applies. Slipping contact allows $\theta$ and $\varphi$ to be independent; detachment removes the fixed center-distance constraint. These changes alone do not establish a nonholonomic constraint. Allowing general three-dimensional reorientation can introduce nonintegrable rolling constraints, but that motion is outside the diagram's two-angle planar model. Thus the stated planar rolling constraint is holonomic throughout its regime of validity; it cannot be imposed on every physically possible motion.

A horizontal strip at height $y$ has width $4-2\sin (\pi y/2)$. The sine term is odd, so the area isReflection symmetry in the $y$-axis gives $\bar{x}=0$. For uniform density, the constant density cancels from the center of mass ratio. Its first moment in the vertical coordinate isConsequentlyThe wider part below the horizontal axis accounts for the negative vertical coordinate.

For $N$ equally weighted positions, the squared radius of gyration is the average squared distance from the center of mass: $R_g^2=N^{-1}{\sum }_n⟨|{\mathbf{R}}_n-{\mathbf{R}}_{\mathrm{cm}}{|}^2⟩$, where ${\mathbf{R}}_{\mathrm{cm}}=N^{-1}{\sum }_n{\mathbf{R}}_n$. Expanding pair differences gives ${\sum }_{m,n}|{\mathbf{R}}_m-{\mathbf{R}}_n{|}^2=2N{\sum }_n|{\mathbf{R}}_n-{\mathbf{R}}_{\mathrm{cm}}{|}^2$, and thereforeFor a Gaussian chain or freely jointed chain with these $N$ positions and mean squared link length $b^2$, each pair variance is $b^2|m-n|$. Summing separations yields $R_g^2=b^2(N^2-1)/(6N)\sim N{b}^2/6$. Counting all endpoints of $N$ links instead gives $N+1$ positions and the corresponding finite-size formula.

A recoil-free nuclear transition emits or absorbs a gamma ray while leaving the internal vibrational state of the surrounding solid unchanged. It belongs to the elastic part of the process: no phonon is created or destroyed. The photon still carries momentum $p=E_{\gamma }/c$, where $c$ is the speed of light. The emitting solid takes momentum $-\mathbf{p}$; the absorbing solid takes $+\mathbf{p}$. Conservation of momentum holds for each event.

Why does an isolated atomic nucleus pose a problem? Start with an excited state at rest and let $E_0$ be its transition energy, with nuclear mass $M$ and $E_0\ll M{c}^2$. Conservation of momentum gives a recoil momentum of magnitude $p$; its nonrelativistic kinetic energy is thereforeBy conservation of energy, emission spends part of $E_0$ on nuclear recoil, whereas absorption must supply both $E_0$ and the final kinetic energy. To leading order,Thus the relevant comparison is $2E_R$ against the overlapping spectral line widths, rather than $E_R/E_0$ alone. If $2E_R$ greatly exceeds the widths, the isolated-nucleus lines have negligible overlap. Finite Lorentzian line shape tails mean that this is suppression, rather than an absolute prohibition on absorption.

For a bound atomic nucleus, the recoil-free channel transfers momentum to the center of mass of the emitting or absorbing solid, with negligible kinetic energy $p^2/(2M_{\mathrm{solid}})$. Other channels exchange phonons and carry substantial energy into or out of the internal vibrations. A large $M_{\mathrm{solid}}$ makes the elastic channel's energy cost small; the vibrational quantum state determines its probability. Merely replacing $M$ by a large mass in the free-particle formula does not calculate that probability.

Here is a deliberately stipulated teaching system, independent of historical isotope data: $E_0=20\mathrm{keV}$, $M{c}^2=10^{11}\mathrm{eV}$, and a single-line natural linewidth ${\Gamma }_E=10^{-7}\mathrm{eV}$ measured as an energy full width at half maximum. These give $E_R=0.002\mathrm{eV}$ and $2E_R/{\Gamma }_E=40,000$. A solid of $10^{12}$ such nuclear masses has elastic recoil energy $2\times 10^{-15}\mathrm{eV}$, far below ${\Gamma }_E$. In this article ${\Gamma }_E$ is an energy width; the corresponding lifetime is $\tau =\hslash /{\Gamma }_E$, with $\hslash$ the Planck constant divided by $2\pi$.

A round body of radius $R_0$ in a fixed cylinder of radius $R_1$ has center of mass path radius $a=R_1-R_0$. With orbital angle $\theta$ and spin angular velocity $\Omega$ both positive about the same axis, rolling without slipping gives $a\dot{\theta }+R_0\Omega =0$. For moment of inertia $I=\gamma m{R}_0^2$, its kinetic energy is $\frac{1}{2}m{a}^2(1+\gamma ){\dot{\theta }}^2$. Release from rest at angle $\alpha$ gives, by conservation of energy, a descent time $\sqrt{1+\gamma }$ times that of frictionless sliding along the same center of mass path. The spin sign reverses if its positive direction is chosen opposite to the orbital angle.

For rolling without slipping inside a stationary circular cylinder, take the inner body's axial moment of inertia to be $I=\gamma m{r}^2$. Its center of mass follows a circle of radius $d=R-r$, and the reduced Lagrangian is $L=m(1+\gamma )d^2{\dot{\theta }}^2/2-mgd(1-\cos \theta )$. The Euler-Lagrange equation gives $(1+\gamma )d\ddot{\theta }+g\sin \theta =0$. Linearizing near the lowest position yields the displayed small oscillation frequency. A uniform solid cylinder has $\gamma =1/2$. This reduction requires sustained contact and enough static friction to prevent slipping.

Static friction is the tangential contact force that maintains zero contact slip. “Static” describes the contact state: both surfaces can move together in the chosen inertial frame. In the ideal dry-contact model, the actual static friction adjusts to the equations of motion, subject to a bound, rather than always taking its maximum value.^[ref]Here $N$ is the magnitude of the normal force and ${\mu }_s$ the coefficient of static friction. Equality means limiting static friction; it is a threshold, not an instruction to replace every unknown contact force by ${\mu }_{s}N$.

For a stipulated example, place a nonrotating $2\mathrm{kg}$ block initially at rest on a stationary horizontal surface. Take gravitational acceleration $g=9.8m/{\mathrm{s}}^2$ and coefficient of static friction ${\mu }_s=0.40$, with no other vertical force. The vertical force balance gives $N=mg=19.6\mathrm{N}$, so the largest allowed static friction magnitude is $7.84\mathrm{N}$. Choose right as positive and apply a horizontal force $F$. Remaining at rest requires Newton's second law to giveAt $F=2\mathrm{N}$, the static friction is $-2\mathrm{N}$; at $F=6\mathrm{N}$, it is $-6\mathrm{N}$. Both states have zero acceleration. At $F=10\mathrm{N}$, balancing would require $f_s=-10\mathrm{N}$, outside the bound, so this initially resting block cannot remain at rest. Its subsequent acceleration requires a kinetic friction law; setting $f_s=-7.84\mathrm{N}$ after contact slip begins would still use the wrong contact state. At exactly $F=7.84\mathrm{N}$, the ideal inequality still permits rest at the threshold. These are model calculations, not measured material properties.

The toy model used in kinetic friction makes the contact-state distinction explicit: $m=1\mathrm{kg}$, $N=10\mathrm{N}$, ${\mu }_s=0.5$ and coefficient of kinetic friction ${\mu }_k=0.3$. On stationary ground, an initially resting box pushed right with $4\mathrm{N}$ has $f_s=-4\mathrm{N}$. At $6\mathrm{N}$ it cannot remain at rest; once it slides right, $f_k=-3\mathrm{N}$ and $a=3m/{\mathrm{s}}^2$. At $5\mathrm{N}$, rest is allowed with $f_s=-5\mathrm{N}$, whereas an already right-sliding box has $f_k=-3\mathrm{N}$ and $a=2m/{\mathrm{s}}^2$. The applied force alone does not specify the friction branch: contact slip and motion history matter.

For a flat contact with two tangential directions, the bound applies to a vector norm, not separately to each component:For the stipulated $7.84\mathrm{N}$ bound, balancing horizontal components $4\mathrm{N}$ and $4\mathrm{N}$ requires a force magnitude $\sqrt{32}\mathrm{N}\simeq 5.657\mathrm{N}$, which is allowed. Components $6\mathrm{N}$ and $6\mathrm{N}$ require $\sqrt{72}\mathrm{N}\simeq 8.485\mathrm{N}$, which is forbidden even though each component separately is below $7.84\mathrm{N}$. This circular bound assumes the same coefficient of static friction in every tangential direction. Near impending contact slip, the limiting static friction opposes the relative contact motion that would otherwise begin. Once actual contact slip exists, kinetic friction instead opposes its tangential relative velocity, which need not have the direction of the body's center of mass motion.

The normal force must also come from the equations of motion. On horizontal ground, an upward pull of magnitude $P$ at angle $\alpha$ above horizontal gives, for a block remaining at rest with no other forces,The sine component unloads the contact and the cosine component demands tangential support. These equations require $N>0$; if the supporting contact opens, this dry-contact model cannot supply a negative normal force. For the stipulated $2\mathrm{kg}$ block and $\alpha =30^{\circ }$, the positive threshold is $P={\mu }_{s}mg/(\cos \alpha +{\mu }_s\sin \alpha )\simeq 7.3544\mathrm{N}$, with $N\simeq 15.9228\mathrm{N}$ and $|f_s|\simeq 6.3691\mathrm{N}$. A downward pull increases $N$ instead. An inclined plane gives another reason why $N$ is not always $mg$.

To solve a new problem, impose zero contact slip, find the required static friction and normal force from the equations of motion, then check the bound. A demand inside it permits that contact state; a demand outside it rules the state out. For an ideal driven tire undergoing rolling without slipping on stationary ground, a forward static friction can accelerate the vehicle. Its role is to prevent contact slip, rather than to oppose all motion of the whole body.

Nor does the word “static” by itself make friction do zero work. The contact power delivered to a body is $P_s={\mathbf{f}}_s\cdot {\mathbf{v}}_c$, a dot product with its material contact-point velocity in the chosen inertial frame. At an ideal contact undergoing rolling without slipping on stationary ground, ${\mathbf{v}}_c=0$, so this power is zero. For a rigid body, adding the translational and rotational contributions gives ${\mathbf{f}}_s\cdot {\mathbf{V}}_{\mathrm{CM}}+{\mathbf{\tau }}_{\mathrm{CM}}\cdot \mathbf{\omega }={\mathbf{f}}_s\cdot {\mathbf{v}}_c$, where ${\mathbf{\tau }}_{\mathrm{CM}}$ is the contact torque about the center of mass and $\mathbf{\omega }$ its angular velocity. Counting only the first term omits the rotational contribution.

At a moving contact with zero contact slip, the two material contact points share a velocity ${\mathbf{v}}_c$ that can be nonzero. For instance, a nonrotating block moving with an accelerating belt receives positive contact power $f_{s}U$ when the belt's rightward velocity $U$ and rightward static friction $f_s$ are positive. The belt receives $-f_{s}U$ by Newton's third law. These contact contributions sum to zero in the ideal no-slip model, while the block's kinetic energy can increase. Zero contact slip and zero work on each body are different conditions.

If $G$ is the center of mass and $X=P-G$, expanding the defining inertia tensor about $P$ gives the displayed formula. The cross terms vanish because $\int rdm=0$ in coordinates centred at $G$. Contracting with a unit axis $u$ gives the parallel axis theorem, with the squared distance between the parallel axes equal to $|X{|}^2-(u\cdot X{)}^2$.

The weighted arithmetic mean combines values according to how much each contributes to the quantity being summarized. For a finite list of real numbers $x_i$ and nonnegative weights $w_i$ with $W={\sum }_i{w}_i>0$, defineZero weights ignore an entry; at least one weight must be positive. Multiplying every weight by the same positive number leaves the result unchanged. Writing $p_i=w_i/W$ makes the weighted mean a convex combination, since $p_i\ge 0$ and ${\sum }_i{p}_i=1$. It therefore lies between the smallest and largest input values. ^[ref]

For example, give the values $90$ and $60$ weights $2$ and $8$:The larger weight pulls the result closer to $60$. The balancing identityexplains a geometric interpretation: if the weights were masses placed at positions $x_i$, the weighted mean would be their center of mass. Here $8(66-60)=2(90-66)=48$, so the two sides balance even though their distances from the mean differ.

Weights need an interpretation. They can represent numbers of observations, masses, or probabilities in a finite probability distribution. These meanings lead to the same formula, while answering different questions. For instance, combining means of groups uses group sizes as weights to recover the mean over individual observations. For a function $f$ and nonnegative weight function $w$, the analogous integral is $\int wf/\int w$, provided $wf$ is integrable and the total weight $\int w$ is positive and finite.