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Measure both angles from the downward vertical, as in the PDF. With the support as origin and downward coordinate $z$,Thus $|AC{|}^2=2{\ell }^2[1+\cos (\theta -\varphi )]$. The requested expression implicitly uses a zero-rest-length spring: its energy is $\kappa |AC{|}^2/2$. The exact Lagrangian for equal masses isExpand the cosines and count angles and velocities as first order. The cosine correction multiplying $\dot{\theta }\dot{\varphi }$ is fourth order and is dropped. After removing constants,The positive spring term in $L_2$ means the spring lowers its energy when the straight assembly bends. If its natural length were $s_0$, this term would instead be $\kappa \ell (2\ell -s_0)(\theta -\varphi {)}^2/4$. An unspecified ordinary natural length cannot simply be ignored; the displayed target fixes the zero-length idealization.

Let $\psi$ be the small hoop's absolute spin angle with the same angular sign convention. Equating the two contact-point velocities cancels the large hoop centre's translation. The remaining tangential equality isThis rolling constraint inside a moving circular track adds small-hoop rotational energy $M{a}^2(2\dot{\theta }-\dot{\varphi }{)}^2/2$. At quadratic order its cross term cancels the translational cross term in part a. The potential is unchanged, soStatic friction enforces rolling; ideal no-slip contact dissipates no energy.

Separating $G=W(q)-\beta t$ gives $[W^{\prime }(q){]}^2/(2m)+m{\omega }^2{q}^2/2=\beta$. On the positive-momentum branch chooseWith $Q=\beta$ and $A=\sqrt{2\beta /(m{\omega }^2)}$, differentiation with respect to $Q$ givesSince $P=\gamma$ is constant,The displayed integral is a local positive-$p$ branch. Continuing the trajectory through turning points switches momentum branches and extends the sine solution over the complete orbit. $\beta$ is the oscillator energy, and $\gamma$ fixes its time phase.

At mean-field level, positive gradient stiffness favours a spatially uniform order parameter. Writing $r=|\varphi |$, minimization of $f=a{r}^2+r^4/2$ giveswith arbitrary constant $\delta$. The minimized density is zero above the transition and $-a^2/2$ below it. The order parameter vanishes continuously as $(-a{)}^{1/2}$; the first derivative of the minimized free energy is continuous while the second changes. This is the continuous mean-field transition.

The broken symmetry is global U(1) symmetry, not merely the Ising sign symmetry. Selecting one ordered phase breaks this continuous symmetry and leaves a soft phase direction. These are minima of the supplied Landau free energy, not an exact finite-temperature long-range-order claim in one dimension: phase fluctuations invalidate that inference for a short-range one-dimensional system.^[ref]

In the same Minkowski metric and electromagnetic units, $T^{\mu \nu }=-F^{\mu }{}_{\lambda }{F}^{\nu \lambda }+\frac{1}{4}{g}^{\mu \nu }{F}_{\alpha \beta }{F}^{\alpha \beta }$. Differentiating givesTo simplify the last two terms, contract ${\partial }_{\mu }{F}_{\nu \lambda }+{\partial }_{\nu }{F}_{\lambda \mu }+{\partial }_{\lambda }{F}_{\mu \nu }=0$ with $F^{\mu \lambda }$. Its first and third terms are equal, and its middle term is $-\frac{1}{2}{\partial }_{\nu }(F_{\alpha \beta }{F}^{\alpha \beta })$. Raising $\nu$ therefore gives $F^{\mu }{}_{\lambda }{\partial }_{\mu }{F}^{\nu \lambda }=\frac{1}{4}{\partial }^{\nu }(F_{\alpha \beta }{F}^{\alpha \beta })$. The cancellation leavesThis is the electromagnetic stress-energy divergence identity in rationalized units. As a sign check, $T^{00}=(E^2+B^2)/2$ is positive and $T^{0i}=(\mathbf{E}\times \mathbf{B}{)}_i$ is the Poynting vector. The integrated four-momentum $P^{\nu }=\int T^{0\nu }{d}^{3}x$ is conserved if the boundary flux vanishes. With matter sources, the electromagnetic field alone instead obeys ${\partial }_{\mu }{T}^{\mu \nu }=-F^{\nu \lambda }{J}_{\lambda }$: energy and momentum transfer to matter restore conservation of the total stress-energy tensor.

For the isotropic zero-field classical Heisenberg model of a ferromagnet, the analytic vector Landau expansion uses the Cartesian components of the vector order parameter near $\mathbf{m}=0$. rotational symmetry makes its scalar terms functions of $\mathbf{m}\cdot \mathbf{m}$. Global spin inversion symmetry also requires $f(\mathbf{m})=f(-\mathbf{m})$. Through fourth order this givesA positive quartic coefficient stabilizes the unconstrained truncated free energy. The disordered phase has $b>0$ and its minimum at $m=0$; the aligned phase has $b<0$ and a minimum at nonzero $m$. At the continuous transition $b=0$. The attractive alignment interaction supplies an energetic tendency toward negative quadratic curvature; orientational entropy favors the disordered phase at high temperature, so the sign of $b$ is a free-energy question rather than a consequence of the pair energy alone.

The analyticity assumption matters: the variable printed as $m$ is a nonnegative magnitude, so reversing $\mathbf{m}$ does not send that scalar to $-m$. Terms proportional to $|\mathbf{m}|$ or $|\mathbf{m}{|}^3$ would be rotationally invariant but nonanalytic at the vector origin. Standard analytic Landau theory excludes them. Without that assumption, the stated pair symmetry alone would not exclude odd powers of the magnitude.^[ref]

The independent head-tail reversal symmetry means that the squared dot product interaction energy is unchanged when any individual ${\mathbf{s}}_i$ is replaced by $-{\mathbf{s}}_i$. All configurations ${\mathbf{s}}_i={\sigma }_i\mathbf{n}$, with ${\sigma }_i=\pm 1$ independently, attain the aligned ground-state pair energy. There is consequently no energetic preference for either end of a molecular axis. Averaging over these equally weighted signs gives $⟨{\mathbf{s}}_i⟩=0$ and $⟨\mathbf{m}⟩=0$ even in the nematically ordered phase. The surviving order is the unoriented axis, represented by a nematic director with $\mathbf{n}\sim -\mathbf{n}$. A second-moment tensor can detect this order while a polar vector cannot.^[ref]

The word “always” needs the statistical ensemble or apolar interpretation: it is not an identity for each finite configuration. For example, choosing all ${\sigma }_i=+1$ is also a ground-state representative and gives $\mathbf{m}=\mathbf{n}$. In an unbiased sign statistical ensemble the typical residual polar vector has size of order $N^{-1/2}$, because $⟨|\mathbf{m}{|}^2⟩=1/N$ for these independent ground-state signs. This does not make polar order an equilibrium nematic order parameter. The tensor below is unchanged by each sign flip and thus removes the arbitrary labeling of rod ends.

For a rightgoing wave packet, put $\xi =z-ct$ and assume $f^{\prime }$ decays sufficiently rapidly. ThenThe shift charge becomesIt is time independent. It vanishes for a localized displacement packet that returns to the same displacement at both ends, but need not vanish for a localized strain pulse joining different asymptotic displacements.

For the dilation charge, substitute $z=\xi +ct$:The change of variables removes all time dependence. This charge also need not vanish; choosing an origin at the packet's energy centroid can make it zero. Conservation assumes the integral exists and there is no boundary flux, rather than merely assuming that the energy is finite.

Position-dependent density. The density ${\mathcal{L}}_1$ remains independent of $\psi$ itself, so the shift Noether charge survives with its altered canonical momentum:A prescribed generic function $\rho (z)$ supplies a fixed spatial scale and breaks scale invariance. For the dilation-current candidate with the corresponding ${\mathcal{H}}_1$ and ${\Pi }_1$, the scale-breaking sources in derivative field theories giveThus $Q_2$ is generally not conserved. Constant density recovers the earlier case; specially scale-invariant profiles and suitably invariant domains would require separate treatment.

Quartic strain. The extra term $-\alpha ({\psi }^{\prime }{)}^4$ in ${\mathcal{L}}_2$ again preserves a uniform field shift. Its time momentum is unchanged, while its spatial current becomes $-AK{\psi }^{\prime }-4\alpha ({\psi }^{\prime }{)}^3$. ThereforeThe new Hamiltonian density is ${\mathcal{H}}_2={\mathcal{H}}_0+\alpha ({\psi }^{\prime }{)}^4$. Under waveform dilation, the quartic term scales with $b^4$ rather than $b^2$, andHence there is no corresponding conserved $Q_2$ for nonzero generic $\alpha$, even if the energy in its candidate expression is updated.

Field-dependent quadratic stiffness. In ${\mathcal{L}}_3$, the term $-\beta {\psi }^2({\psi }^{\prime }{)}^2$ breaks the uniform field shift:when spatial flux vanishes. Thus $Q_1$ is not generally conserved. However all terms still contain exactly two derivatives in total, with a field of zero dilation weight. The factor ${\psi }^2$ gains no extra power of $b$, so waveform dilation remains an action symmetry. Its charge isHere $\Pi =A\rho \dot{\psi }$ as before. Relative to the original charge, the energy term changes; the symmetry survives despite the nonlinear field dependence. These statements concern symmetry conservation, separately from any restrictions on parameters needed for positive elastic energy.

Write $\rho$ for cylindrical radius in this question, not the rod's mass density. A charged relativistic particle in a time-independent magnetic field has the charged-particle electromagnetic Lagrangianwith zero electrostatic potential. The cylindrical speed is ${\mathbf{v}}^2={\dot{\rho }}^2+{\rho }^2{\dot{\theta }}^2+{\dot{z}}^2$. Inside a uniform axial field, choose the symmetric magnetic vector potential $A_{\theta }=B\rho /2$, $A_{\rho }=A_z=0$. Its cylindrical curl gives $B_z={\rho }^{-1}{\partial }_{\rho }(\rho A_{\theta })=B$. HenceIn a field-free region far from either end one can use $A_{\theta }=0$, recovering the requested outside expression. The question's $V=-qB{\rho }^2\dot{\theta }/2$ is a velocity-dependent generalized potential, not electrostatic potential energy.

There is an important end-field qualification. A finite axial field that jumps to zero with no radial component would violate Gauss's law for magnetism. The consistent near-axis idealisation is the solenoid fringe field from an axisymmetric vector potential, $A_{\theta }=\rho B(z)/2$, giving $B_{\rho }=-\rho B^{\prime }(z)/2$ and $B_z=B(z)$. The piecewise Lagrangian is its hard-edge limit and retains fringe impulses through the jump in $A_{\theta }$. Those impulses are essential to the focusing calculation.

The azimuth is a cyclic coordinate, so its canonical momentum is conserved:Initially the velocity is parallel to the axis in a field-free region, so $p_{\theta }=0$. Conservation of canonical angular momentum across a solenoid fringe therefore gives, inside the uniform field,This holds away from the coordinate singularity $\rho =0$; the Cartesian orbit will be smooth there.

Time independence also conserves the energy Hamiltonian,The velocity-linear magnetic term cancels in this Legendre transform. Thus $\gamma ={\gamma }_v=(1-v^2/c^2{)}^{-1/2}$ is constant, as expected because a static magnetic Lorentz force does no work. Mechanical angular momentum can change even though $p_{\theta }$ and the total speed are conserved.

Let $v=\sqrt{-\ln \lambda /\lambda }>0$ and write $\varphi =v+\chi$. ThenSince $V^{\prime }(v^2)=0$ and $V^{\prime \prime }(v^2)=\lambda$, the quadratic potential isThereforeThe constant can be dropped from the fluctuation equations. For canonical real fields, use $\chi =(h+i\pi )/\sqrt{2}$:These are the radial and angular masses of a phase-invariant scalar potential. The radial Higgs mode changes the field magnitude and costs energy to second order. The angular Goldstone boson changes the phase along the vacuum circle without a quadratic restoring force. Its linear dispersion is ${\omega }^2=|\mathbf{k}{|}^2$, whereas the radial mode has ${\omega }^2=|\mathbf{k}{|}^2+m_h^2$. The zero angular mass follows the continuous broken global symmetry, not from an accidental cancellation in a particular coordinate choice.

The sign can be checked independently by multiplying the equation by $\dot{x}$. With $E=({\dot{x}}^2+x^2)/2$,For periodic motion the total-derivative near-field term averages to zero, so positive $\epsilon$ gives a radiative energy loss, consistent with the slow poles' damping. Negative $\epsilon$ acts as energy gain in this model.

For the comparison equation as printed, $\ddot{x}+x-\epsilon \dot{x}=f$, the response denominator instead is $1-{\omega }^2+i\epsilon \omega$, with exact polesThus ordinary positive damping in that sign convention requires $\boxed{\epsilon <0}$, the opposite sign from slow radiation damping in the third-derivative equation. The word “damped” does not override the explicitly printed minus sign. With the usual equation $\ddot{x}+x+\gamma \dot{x}=f$, positive $\gamma$ gives the familiar lower-half-plane poles.

With the PDF's inverse Fourier transform convention, the derivatives act asso its forced differential operator becomes ${\omega }^2-k^2+i\gamma \omega k^2$. ThusFor the physical impulse response choose the retarded fundamental solution, vanishing before $t=0$. For $k\ne 0$ and $\gamma >0$, its poles lie in the lower half-plane. The retarded Fourier pole prescription $\omega \mapsto \omega +i0$ specifies the zero mode and the zero-damping limit as well; a Green function without a temporal or boundary prescription would otherwise permit homogeneous additions.

This is the Kelvin-Voigt rod Green function. Multiplying the homogeneous real-space equation by $-1$ givesA spatial Fourier mode therefore satisfies ${\ddot{\varphi }}_k+\gamma k^2{\dot{\varphi }}_k+k^2{\varphi }_k=0$: positive $\gamma$ really damps the motion. For sufficiently decaying fields its energy satisfiesThis checks the sign of the imaginary term in $\hat{G}$ independently of the transform calculation.

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.

The two continuous, time-independent symmetries are time translation and a common rotation of both angles. Their Noether charges are respectively the total energy and vertical angular momentum:For the second symmetry, $\theta \mapsto \theta +ϵ$ and $\phi \mapsto \phi +ϵ$, so the Noether theorem gives the sum of their conjugate momenta. Independent rotations are not symmetries of the spring coupling.

There are also discrete symmetries: simultaneous reflection $(\theta ,\phi )\mapsto (-\theta ,-\phi )$, and time reversal in classical mechanics, which reverses both angular velocities. These leave the dynamics invariant but provide no additional infinitesimal Noether charges. Combined with common rotations, the reflections give the full planar orthogonal symmetry of the angular geometry. If $I_1=I_2$, interchange of the two angular coordinates is an additional discrete symmetry of the reduced dynamics.

There is a further useful time-dependent symmetry, up to a total derivative, on a continuous lift of the angles: adding the same constant angular velocity, $(\theta ,\phi )\mapsto (\theta +vt,\phi +vt)$. It changes $L$ byIts conserved quantity is $\boxed{I_1\theta +I_2\phi -tJ}$. It is the integration constant for free common rotation, rather than a new globally single-valued angle charge on the configuration torus. The globally defined continuous charges are $E$ and $J$ above.

Above the threshold, $c^2{k}_j^2>1/(4{\tau }^2)$, the square root in part (d) is real. Both fields oscillate, but the first has envelope $\boxed{e^{-t/(2\tau )}}$ and the second $\boxed{e^{+t/(2\tau )}}$. Thus the first is damped and the second amplified.

Below the threshold, set ${\sigma }_j=\sqrt{1/(4{\tau }^2)-c^2{k}_j^2}$. The temporal factors areThey are nonoscillatory. For nonzero $k_j$, $0<{\sigma }_j<1/(2\tau )$, so both first-field branches decay and both second-field branches grow. At $k_j=0$, one branch is constant; the other is $e^{-t/\tau }$ for ${\varphi }_1$ or $e^{t/\tau }$ for ${\varphi }_2$.

At equality, the repeated temporal root gives $\boxed{(A+Bt)e^{-t/(2\tau )}}$ for the first field and $\boxed{(C+Dt)e^{t/(2\tau )}}$ for the second. The full two-field system is generically unstable on both sides because of the amplified sector. This is compatible with its autonomous Lagrangian: the total conserved energy is an indefinite quadratic form, rather than a positive energy forcing every component to remain bounded.

Square the operator solutions, retaining the symmetrized cross term rather than treating $x^{\prime }(0)$ and $p^{\prime }(0)$ as commuting variables. The initial symmetrized expectation vanishes, soThe means remain zero. These are also the variances. Unless $\alpha =m\omega /\hslash$, the Gaussian state breathes: its position and momentum widths exchange periodically while the mean energy remains constant.

For $b>0$, the exponential variational trial for a square-root half-line well satisfies the wall boundary condition and has norm ${\int }_0^{\infty }{x}^2{e}^{-2bx}dx=1/(4b^3)$. integration by parts has no boundary term and givesThe supplied gamma integral givesSetting $E^{\prime }(b)=0$ yields the unique minimum,At the minimum $⟨V⟩=4⟨T⟩$, so the variational ground-state estimate isThe energy diverges as $b\to 0$ or $b\to \infty$, confirming that the stationary point minimizes the trial energy.

Write $E_{\ast }=({\hslash }^2{a}^4/(2m){)}^{1/5}$. Then $E_0^{\mathrm{WKB}}=1.811694E_{\ast }$ and $E_{\mathrm{var}}=1.876493E_{\ast }$. The variational method guarantees $E_0\le E_{\mathrm{var}}$, since the trial satisfies the wall condition and has finite energy. WKB gives no comparable upper-bound guarantee and is least controlled for the lowest state. The two estimates differ by about $3.6\%$ of the WKB value; their closeness is encouraging but does not prove that the exact energy lies between them.