Advanced Classical Physics, Autumn 2016 Problem Sheet 8 – Solutions

1. (a) Critical points are at x(x − 1)(x + 1) ± y = 0 which has solutions (0, 0), (−1, 0), and
(1, 0). The linearised system gives matrix
 2 
3x − 1 −1
M= .
3x2 − 1 1
√ √
The eigenvalues at (0, 0) are λ = ∓ 2 with eigenvectors (1 ± 2, 1). This is a saddle
point with asymptotic lines given by the two eigenvectors.
√
For both (−1, 0) and√(1, 0) we have identical result; eigenvalues λ = (3 ± i 7)/2 and
eigenvectors ((1 ± i 7)/4, 1). These are unstable spirals since the eigenvalues are of the
form µ ± ν with µ > 0.
(b) The sketch should look similar to the one in Fig. ??. The phase flow is out of the critical
points at (±1, 0) and agrees with the opposite flow for the two saddle asymptotes at (0, 0).

Figure 1:

2. (a) Firstly we have to turn the second order system into two first order equations. We do this
by defining a new variable y = ẋ to obtain the system
ẋ = y ,
ẏ = −γy − x ,
for ω0 = 1. The systems only critical point is at the origin (0, 0).
Linearising the system in the usual way we find the matrix
 
0 1
M= .
−1 −γ

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Advanced Classical Physics, Autumn 2016 Problem Sheet 8 – Solutions

The eigenvalues are

1 p 
λ= −γ ± γ 2 − 4 ,
2
and the eigenvectors are  !
1
p
2 −γ ± γ2 − 4
e= .
1
The critical point switches geometry depending on whether the quantity in the square root
is positive or negative. When γ < 2 the eigenvalues are complex conjugates with negative
real part. This means the critical point is a stable spiral - the oscillator is going through
damped oscillations (sub-critically damped).
For γ > 2 the eigenvalues are real and unequal. The matrix also has to unequal eigenvec-
tors. This corresponds to an improper, stable node.
(b) Figs. ?? and ?? show the cases for γ = γc − 1 = 1 and γ = γc + 1 = 3 respectively. In
both cases the flow is directed in towards the origin as both cases are stable critical points

Figure 2:

(c)

3. (a) The kinetic energy is

1
T = m`20 θ̇2 ,
2
and the potential energy is

V = mgh = −mg`0 cos θ.

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Advanced Classical Physics, Autumn 2016 Problem Sheet 8 – Solutions

Figure 3:

Therefore the Lagrangian is

1
L = T − V = m`20 θ̇2 + mg`0 cos θ.
2
(b) The equation of motion is given by the Euler-Lagrange equation

d ∂L ∂L
− = 0.
dt ∂ θ̇ ∂θ
Substituting the Lagrangian, one obtains

m`20 θ̈ + mg`0 sin θ = 0.

(c) To find the Hamiltonian, one first needs the canonical momentum
∂L
p= = m`20 θ̇.
∂ θ̇
Inverting this,
p
θ̇ = .
m`20
The Hamiltonian is then given by

p2 1 p2 p2
H = pθ̇ − L = − − mg`0 cos θ = − mg`0 cos θ.
m`20 2 m`20 2m`20

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Advanced Classical Physics, Autumn 2016 Problem Sheet 8 – Solutions

(d) The kinetic energy must now also include radial motion,
1  
T = m `˙2 + `2 θ̇2 ,
2
so
1   1
L = T − V − Vspring = m `˙2 + `2 θ̇2 + mg` cos θ − k(` − `0 )2 .
2 2
To find the normal frequencies, one first needs to the find the equilibrium state. Obviously
θeq = 0. To find, `eq , minimise the potential,

∂Vtot
= −mg cos θeq + k(`eq − `0 ) = 0,
∂`
which gives
mg
`eq = `0 + .
k
Writing ` = `eq + δ`, and expanding to quadratic order one finds

1  2  1 1
L = m δ̇` + `eq θ̇ − mg`eq θ2 − kδ`2 .
2 2
2 2 2
The coordinates are orthogonal. Normalising them as
√ √
q1 = mδ`, q2 = m`eq θ,

one obtains
1 2
1k 2 1 g 2
L= q̇1 + q̇22 − q − q .
2 2 m 1 2 `eq 2
The normal frequencies are therefore
p q
ω1 = k/m, ω2 = g/`eq .