Past exam of the mathematics course of the University of Cambridge / 2017 / ii / Paper 1 / 8E / Solution

Assume the holonomic constraints have linearly independent gradients, so their common level set is locally a smooth constraint manifold parametrized by $q_1,\dots ,q_n$. The multiplier form of the Euler-Lagrange equations isAt fixed time ${\sum }_A{\partial }_A{f}_{\alpha }{\partial }_i{x}_A=0$. The chain rule for the reduced Lagrangian givesConversely, if these reduced equations hold, the Cartesian Euler-Lagrange residual annihilates every tangent direction. Linear independence of the constraint gradients implies that it is a linear combination of those gradients, giving the required Lagrange multipliers. This proves the local equivalence, including time-dependent constraints; singular constraints would need separate analysis.

For the bead, $\dot{y}=f^{\prime }(x)\dot{x}$, soThe autonomous conservation of energy gives $E=\frac{1}{2}(1+f^{\prime 2}){\dot{x}}^2$. If $E>0$, the motion has a fixed sign $s=\mathrm{sgn}\dot{x}$ andThe integral is the signed arc length divided by the constant speed, and is locally invertible. The special solution $E=0$ is a stationary bead, for which writing time as a function of its unchanging position is not meaningful.