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In the rim-mass pulley coupled to a hanging mass, the printed figure shows the smaller pulley fixed overhead, and the mechanical string leaves the right-hand tangent of the larger pulley. Let $\theta$ increase counterclockwise from the downward vertical to the radius carrying $M$. Then the hanging mass $m$ moves downward by $R\theta$. The string is taken to grip the rim without slipping. Its tension must be solved dynamically, rather than set equal to $mg$ during motion.

The kinetic energy and potential energy areThe Euler-Lagrange equation and the condition for equilibrium areOne can also eliminate the tension from $M{R}^2\ddot{\theta }=TR-MgR\sin \theta$ and $mR\ddot{\theta }=mg-T$. For $0<m<M$, the solution with $\cos {\theta }_e>0$ is stable; the other solution in a full turn is unstable.

Here $G$ is the gravitational constant, $r$ is the separation of the orbiting object from the central body's centre, and $J$ is the magnitude of the object's conserved orbital angular momentum, not angular momentum per unit mass. Approximate the much heavier central body as fixed, neglect other forces, and use the Newtonian gravitational potential energy $U=-GM{m}_0/r$, with zero at infinity.

A central force confines the motion to a fixed orbital plane. In plane polar coordinates its kinetic energy is $T=\frac{1}{2}{m}_0({\dot{r}}^2+r^2{\dot{\varphi }}^2)$. Conservation of angular momentum gives $J=m_0{r}^2\dot{\varphi }$; eliminating $\dot{\varphi }$ yieldsThe centrifugal term belongs to the radial effective potential; it is the eliminated transverse kinetic energy, not an additional physical interaction. If recoil of the central body mattered, the relative-coordinate reduction would use the reduced mass.

The supplied PDF labels this equation clarified from original for tutorial purposes. Use the model of an eccentric wheel with missing-mass kinetic energy neglected: neglect the missing disc's contribution to kinetic energy, while retaining its subtraction from gravitational potential energy. Do not silently replace the gravitational mass $W$ by the full-disc mass $D$ as well.

Choose $\theta$ as the clockwise angle of $\overrightarrow{CH}$ from the upward vertical, and set $s=R\theta$. The rolling without slipping constraint makes changes in $s$ equal changes in the distance C travels down the slope. Choose its additive origin so $s=0$ when the hole is vertically above C. Then, up to an irrelevant height constant,The approximate kinetic energy is that of the complete uniform disc rolling at $\dot{s}=R\dot{\theta }$:Subtracting the missing disc's gravitational potential energy givesApply the Euler-Lagrange equation to $\mathcal{L}=T-U$:ThereforeHere $K_1,K_2$ have dimensions of acceleration and $\gamma$ has dimensions of inverse length. The initial conditions are $s(0)=\dot{s}(0)=0$ under the vertical-above interpretation. If an initial orientation is instead specified relative to the slope normal, the same coordinate convention produces a different initial $s$, not different constants. With $r_o\to 0$ the equation becomes $\ddot{s}=(2/3)g\sin \alpha$, the familiar solid-disc result. Retaining the hole's exact kinetic energy would introduce coordinate-dependent inertia and extra ${\dot{s}}^2$ terms; the printed neglect is what permits the requested constant-coefficient form.

The first term, $m{\dot{r}}^2/2$, is radial kinetic energy. The second, $L^2/(2m{r}^2)$, is tangential kinetic energy, since conservation of angular momentum gives $L=m{r}^2\dot{\phi }$. The final term, $-GMm/r$, is the gravitational potential energy, with zero at infinite separation. ThusThe second and third terms together form the radial effective potential for a Kepler orbit. At an apsis the radial velocity vanishes, so $E=U_{\mathrm{eff}}$; for a bound noncircular orbit the two accessible roots give the nearest and furthest radii.

For the attractive central force $\mathbf{F}=-k\mathbf{r}$, with $k>0$, the potential energy is $U(r)=k{r}^2/2$ up to an additive constant. Conservation of angular momentum confines the motion to a plane; writing its magnitude as $J=m{r}^2\dot{\phi }$, the kinetic energy isAt fixed $J$, the radial energy equation becomes $E=m{\dot{r}}^2/2+U_{\mathrm{eff}}(r)$, whereThe effective potential combines the true potential energy with the angular-motion contribution. Its negative derivative gives the radial equation $m\ddot{r}=-U_{\mathrm{eff}}^{\prime }=J^2/(m{r}^3)-kr$; the first term is the centrifugal contribution arising from elimination of the angular coordinate.

A circular orbit is a fixed radial position at a stationary point:For $J\ne 0$, $U_{\mathrm{eff}}^{\prime \prime }(r_0)=4k>0$, so this is a stable minimum. Small radial disturbances have angular frequency $2\sqrt{k/m}$. For $J=0$, there is no nonzero-radius circular orbit.

Measure the vertical displacement $x$ downward from the spring's unstretched position. The kinetic energy is $m{\dot{x}}^2/2$, while the spring and gravitational potential energies are $k{x}^2/2$ and $-mgx$. Thus the Lagrangian isApplying the Euler-Lagrange equation, $d(\partial \mathcal{L}/\partial \dot{x})/dt-\partial \mathcal{L}/\partial x=0$, givesGravity shifts the equilibrium to $x_{\ast }=mg/k$. For displacement $\xi =x-x_{\ast }$ from that equilibrium, the equation of motion becomes $\ddot{\xi }+(k/m)\xi =0$, giving simple harmonic motion with angular frequency $\omega =\sqrt{k/m}$. Choosing an upward coordinate instead reverses the gravitational term, but leaves the equilibrium-relative angular frequency unchanged.

Take $\theta$ from the downward vertical. Under the conventional light-rod idealization, only the endpoint point mass contributes appreciably. Its speed is $l\dot{\theta }$, and its gravitational potential energy is $-mgl\cos \theta$. ThereforeAn additive constant in the potential energy has no effect on the Euler-Lagrange equation.

Rod-mass qualification: “thin” and “uniform” do not imply negligible mass. If the uniform rod has a finite unspecified mass $M_r$, its pivot moment of inertia is $M_r{l}^2/3$ and its centre of mass lies $l/2$ from the pivot. For a pendulum with a uniform rod and an endpoint mass, the general answer isThis formula covers either convention without inventing a rod mass. A result involving only the specified $m,l,g$ uses $M_r=0$ unless an additional relation for $M_r$ is stated.

A central force confines nonradial motion to a plane. In plane polar coordinates, the Lagrangian for $V(r)=\beta r^k$ isThe azimuth $\varphi$ is a cyclic coordinate, so $L=m{r}^2\dot{\varphi }$ is conserved angular momentum. The Lagrangian has no explicit time dependence, giving conserved energyAt fixed $L$, the radial equation of motion is $m\ddot{r}=-V_{\mathrm{eff}}^{\prime }(r)$. The effective potential packages the transverse kinetic energy as a centrifugal term alongside the actual potential energy. It gives a one-dimensional radial problem without introducing an extra physical interaction.

Put $V=v_{\max }$ and let $u_c=\sqrt{GM/r_0}$ be the circular orbit speed. Take the captured half to move in the original tangential direction, the minimum-energy choice. Conservation of momentum during the short explosion gives the other half speed $2V-u_c$. The gravitational potential energy is unchanged at the instant of separation, so the necessary generated energy is the increase in kinetic energy:The captured half has zero radial velocity and exactly the required tangential speed, so it can enter the stable Newtonian circular orbit at this radius. Internal self-binding and any mass lost to radiation are neglected.

For independent generalized coordinates $q_i$, their generalized velocities ${\dot{q}}_i$ and a Lagrangian $L(q,\dot{q},t)$, the Euler-Lagrange equations areHere the partial derivatives treat $q_i,{\dot{q}}_i,t$ as independent arguments, whereas $d/dt$ follows the motion. For a conservative mechanical system, choose coordinates satisfying the mechanical constraints, express the kinetic energy $T$ and potential energy $V$ in those coordinates, set $L=T-V$, and evaluate these equations to obtain the equations of motion. If nonconservative generalized forces $Q_i$ are present, they appear on the right-hand side.

A cyclic coordinate is absent explicitly from $L$: $\partial L/\partial q_i=0$, even though $L$ may depend on ${\dot{q}}_i$. Its canonical momentum is consequently conserved,This does not require ${\dot{q}}_i=0$ or even that ${\dot{q}}_i$ be constant; the relation between canonical momentum and generalized velocity depends on the Lagrangian.

Choose zero potential energy at the equilibrium position. For the simple harmonic oscillator, the kinetic energy and elastic potential energy give the LagrangianIts canonical momentum is $p=\partial L/\partial \dot{x}=m\dot{x}$. The Legendre transform defining the Hamiltonian consequently givesThe Euler-Lagrange equation is $m\ddot{x}+kx=0$. Thus along the motionThis proves conservation of energy. Equivalently, the Lagrangian has no explicit time dependence, so $dH/dt=-\partial L/\partial t=0$. The Lagrangian itself need not be constant: the kinetic energy and potential energy exchange periodically.

Take $x$ positive downward and put zero gravitational potential energy at the spring's support. The mass is then a distance $l+x$ below that reference, so $V_g=-mg(l+x)$. Hooke's law gives the elastic potential energy $k{x}^2/2$. ThereforeThe constant term $mgl$ fixes the requested reference but does not affect the motion. The Euler-Lagrange equation isThis is exactly Newton's second law with gravity downward and spring force $kx$ upward for positive extension. The static extension is $x_0=mg/k$.

For the elastic pendulum, set $r=l+x>0$ and measure $\theta$ from the downward vertical. In the vertical plane, Cartesian coordinates are $X=r\sin \theta$ and $Z=-r\cos \theta$, with $Z$ upward. Differentiating gives ${\dot{X}}^2+{\dot{Z}}^2={\dot{x}}^2+r^2{\dot{\theta }}^2$. Thus the Lagrangian isFor $x$, the Euler-Lagrange equation givesFor $\theta$, the canonical momentum is $p_{\theta }=m(l+x{)}^2\dot{\theta }$. Its Euler-Lagrange equation isor, for positive length,At an equilibrium, all time derivatives vanish, so $kx=mg\cos \theta$ and $\sin \theta =0$. Modulo full rotations, the two formal possibilities areThe lower configuration always has positive length. The upper one is a physical straight-spring configuration only if $l>mg/k$. For example, $l=mg/(2k)$ would give the purported upper state a negative length $-mg/(2k)$; at $l=mg/k$ its zero length makes the angular coordinate singular. Also, the straight compressed spring is an idealization; a real unsupported compressed spring can buckle.

The potential energy is $V=k{x}^2/2-mg(l+x)\cos \theta$. At either formal stationary point its mixed second derivative vanishes, whileBoth curvatures are positive at the lower state, making it a stable equilibrium; the upper state, when it has positive length, has negative angular curvature and is unstable.

To linearize about the stable state, define the small displacement $\xi =x-mg/k$, not $x$ itself, and $r_0=l+mg/k$. Products such as ${\dot{\theta }}^2$, $\dot{\xi }\dot{\theta }$ and $\xi \ddot{\theta }$ are second order, while $\cos \theta =1+O({\theta }^2)$ and $\sin \theta =\theta +O({\theta }^3)$. The first-order equations of motion therefore decouple:There are two independent normal modes. The radial one is vertical simple harmonic motion with angular frequency ${\omega }_r=\sqrt{k/m}$. The transverse one is a simple pendulum oscillation at fixed, statically stretched length $r_0$, with angular frequency ${\omega }_{\theta }=\sqrt{g/r_0}$. Their decoupling is a first-order small-oscillation result, not an assertion about the nonlinear motion of the elastic pendulum.

For ordinary conservative classical mechanics, the Lagrangian is $L(q,\dot{q},t)=T-V$, where $T$ is the kinetic energy and $V$ the potential energy. More generally it is the function whose action $\int Ldt$ satisfies the principle of stationary action. The canonical momenta and Hamiltonian areFor a regular Lagrangian, the first equations can be inverted to express the generalized velocities in terms of $q,p,t$; this defines the Legendre transform on phase space.

Along a solution of the Euler-Lagrange equations, ${\dot{p}}_i=\partial L/\partial q_i$. Taking a total time derivative givesThus an autonomous Lagrangian hasFor the usual time-independent mechanical coordinates and a velocity-independent potential energy, the kinetic energy is quadratic in the generalized velocities, so ${\sum }_i{p}_i{\dot{q}}_i=2T$ and $H=T+V$. The conservation proof itself uses the Euler-Lagrange equations, rather than assuming this special expression for energy.

First take $a\ne 0$, put $A=|a|$, and suppose $k>0$. The force is the negative derivative of the potential energy:The potential energy is an odd function, passes through $U(0)=0$, and approaches zero from above as $x\to -\infty$ and from below as $x\to +\infty$. Its stationary points are $x=\pm A$:Thus the sole stable equilibrium is the local minimum at $x=A$; the local maximum at $x=-A$ is an unstable equilibrium. The requested values at the stable equilibrium areThe force is an even function, positive for $|x|<A$, negative for $|x|>A$, and zero at $x=\pm A$. Its central maximum is $F(0)=k/A^2$. Sinceits two minima occur at $x=\pm \sqrt{3}A$, with $F=-k/(8A^2)$, and $F\to 0^{-}$ at both ends. These values fix the shapes of both requested sketches.

In one dimension, attraction towards the origin means $xF(x)<0$, while repulsion from the origin means $xF(x)>0$. With that explicitly stated convention,A positive force alone means rightward, not necessarily outward. At the origin $F(0)\ne 0$, so it is not an equilibrium; the inward/outward distinction is undefined exactly there.

The sign assumptions matter because the paper calls $a,k$ merely constants. For $k<0$ both curves reverse sign, the stable equilibrium is $x=-A$, its potential energy is $-|k|/(2A)$, and the attraction/repulsion intervals interchange. For $k=0$ the force vanishes everywhere on the nonsingular domain and there is no isolated potential energy minimum. If $a=0$ and $k\ne 0$, then $U=-k/x$ for $x\ne 0$ and $F=-k/x^2$, with no finite equilibrium.

For a satellite of mass $m$ moving in the Newtonian gravitational field of a much larger, effectively fixed mass $M$, put $\mu =GM$. Its conserved mechanical energy, with gravitational potential energy zero at infinity, isHere $r$ is the instantaneous centre-to-centre distance, $v$ the satellite's speed, $G$ the gravitational constant, and $a$ the semi-major axis of its bound elliptic orbit. The kinetic energy and potential energy vary around the orbit, while their sum remains constant. Dividing by $m$ and solving for $v$ gives the vis-viva equation, $v^2=\mu (2/r-1/a)$.

For this Hohmann transfer orbit, the periapsis and apoapsis distances are $r_1=1\mathrm{AU}$ and $r_2=1.52\mathrm{AU}$, soThe vis-viva equation gives the endpoint speedsAs a check, conservation of angular momentum at the two endpoints gives $r_1{v}_{\mathrm{p}}=r_2{v}_{\mathrm{a}}$ because each velocity is perpendicular to its radius. Using $1\mathrm{AU}=1.49598\times 10^{11}\mathrm{m}$ and $\mu =1.32712\times 10^{20}{\mathrm{m}}^3{\mathrm{s}}^{-2}$ gives $v_1=29.78\mathrm{km}{\mathrm{s}}^{-1}$ andThe departure impulse must increase the speed in the direction of the initial circular orbit:These are Sun-centred speeds; leaving the Earth's own gravitational field would require an additional calculation beyond this idealized solar orbit transfer.

At $r_2$, the desired circular orbit speed is $v_2=\sqrt{\mu /r_2}=24.16\mathrm{km}{\mathrm{s}}^{-1}$. The arrival impulse is thereforeThe required thrust on the spacecraft is forward, tangent to its orbit, to accelerate it. The rocket ejects exhaust backwards, opposite to the spacecraft's velocity; this distinguishes the direction of thrust from the direction in which the exhaust is fired.

The Hohmann transfer time is half the orbital period of the transfer ellipse. From Kepler's third law, relative to the Earth's one-year orbital period,Meanwhile Mars's orbital period is $T_M=1.52^{3/2}\mathrm{yr}=1.8740\mathrm{yr}$. The spacecraft arrives $\pi$ radians from its departure position. For a rendezvous, Mars must reach that same position after advancing through $2\pi t_H/T_M$. Thus its initial lead angle over the departing spacecraft isMars must be ahead by this angle in the common direction of motion around their orbits. At departure the spacecraft and the Earth share the inner orbital position; arrival occurs on the opposite side of the Sun.

In the inertial centre of mass frame, the Lagrangian mechanics description starts from kinetic energy minus potential energy:Define the two-particle relative coordinate $\mathbf{r}={\mathbf{r}}_1-{\mathbf{r}}_2$. The centre of mass condition givesSubstitution therefore givesThe Euler-Lagrange equation is simply $\mu \ddot{\mathbf{r}}=-\nabla V(r)$. Thus center-of-mass reduction turns a two-body problem into a one-particle central force problem with reduced mass $\mu$, reducing six position components to three relative components. In an arbitrary inertial frame one adds the independent centre of mass term $\frac{1}{2}(m_1+m_2)|\dot{\mathbf{R}}{|}^2$; that free motion does not affect the relative solution. Since $V$ depends only on separation, conservation of angular momentum further confines a nonradial relative trajectory to a plane.

Assume the station's mass remains fixed through an instantaneous kick, with subsequent motion governed only by the Earth's Newtonian gravitational field. Put $\kappa =G{M}_E$, and work per unit station mass. The initial circular orbit has specific angular momentum $j$ and specific orbital energy ${\epsilon }_0$ given byLet $\delta$ denote the fractional increase of kinetic energy. The position and potential energy are unchanged during the kick, soUnchanged angular momentum at unchanged position fixes the tangential velocity; the added kinetic energy must be radial. Thus this is a radial kick, not a purely tangential speed increase. The new orbital eccentricity follows fromAt either radial turning point, the Kepler radial energy equation gives $\epsilon =j^2/(2r^2)-\kappa /r$. Its two roots, equivalently the periapsis and apoapsis of the elliptic orbit, areFor $\delta =0.01$, $e=0.1$ andAn inward or outward kick gives the same pair of radial turning points, although it places the station at a different phase of the orbit. These two finite positive radii require $0\le \delta <1$.

Retain the unchanged-angular momentum assumption of the preceding part. The initial orbit has radius $r_o=6400+500=6900\mathrm{km}$, and the desired pericentre distance is $r_p=6400+100=6500\mathrm{km}$. Using $r_p=r_o/(1+e)$ givesThe required fractional increase in initial kinetic energy is thereforeHere $\Delta E=\Delta K>0$ because the instantaneous kick does not change potential energy. Since the initial total orbital energy is $E_0=-K_0$, an alternative convention for the requested fractional energy change givesThe total orbital energy becomes less negative. Explicitly specifying its denominator avoids interpreting a positive energy input as a decrease of energy.

Use the electric dipole above a grounded conducting plane approximation, valid for $d\ll a$. Let $\hat{\mathbf{z}}$ point upward, and choose $\mathbf{p}=p(\sin \theta \hat{\mathbf{x}}+\cos \theta \hat{\mathbf{z}})$. Reflecting the two constituent point charges and reversing their signs produces an image electric dipole momentat height $-a$. Thus the parallel electric dipole moment reverses and the normal one is unchanged. At the real electric dipole, the separation from its image is $2a\hat{\mathbf{z}}$, giving the image electric fieldThe physical torque is $\mathbf{\tau }=\mathbf{p}\times {\mathbf{E}}_{\mathrm{im}}$, soFor $0<\theta <\pi /2$, its direction reduces $\theta$, tending to align the electric dipole with the upward normal. In general it favours either normal orientation; a perfectly parallel orientation has zero torque but is unstable to tilting.

The conductor-response potential energy includes one half of the real-image interaction:This factor accounts for the induced surface charge changing as the physical source is assembled. Differentiation with respect to height at fixed orientation givesThere is no horizontal force, since translating the entire arrangement parallel to the plane leaves $U$ unchanged. For example, the normal and parallel orientations give respective downward force magnitudes $3p^2/(32\pi {ϵ}_0{a}^4)$ and $3p^2/(64\pi {ϵ}_0{a}^4)$.

A single physical point charge induces total plane electric charge $-q$. One can verify this by integrating its induced surface charge density, $-qh/[2\pi ({\varrho }^2+h^2{)}^{3/2}]$, over the plane. The two physical electric charges therefore induce opposite totals, givingThe local surface charge density is generally nonzero. The zero total holds for the finite neutral pair as well as its ideal electric dipole limit.