CM.4 · Constraints, variational equations and cyclic coordinates

A constraint removes an independent coordinate before you form the kinetic energy. For a fixed-length pendulum choose θ from the downward vertical: x=l sinθ and y=−l cosθ. Differentiating both coordinates gives v²=l²θdot², not l² sin²θ θdot². Thus T=ml²θdot²/2 and V=mgl(1−cosθ), with zero potential at the bottom. The fixed length is a holonomic constraint: it is a relation among coordinates and possibly time. A rolling velocity constraint needs its own analysis; do not automatically treat every constraint as a coordinate substitution.

For ideal constraints and the usual conservative system, the stationary-action equation is d/dt(∂L/∂qdot)−∂L/∂q=0 with L=T−V. The variations vanish at the two time endpoints. A pendulum gives ∂L/∂θdot=ml²θdot and ∂L/∂θ=−mgl sinθ, so ml²θddot+mgl sinθ=0. The momentum derivative acts on every time-dependent factor: for a varying radius, d(mr²θdot)/dt contains 2mr rdot θdot. The variational method does not mean mechanical energy is conserved in a time-dependent system.

For planar central motion, L=m(rdot²+r²θdot²)/2−V(r). The angle θ is cyclic because L has no explicit θ dependence, even though L depends on θdot. Its canonical momentum pθ=mr²θdot is constant. The radial equation is m rddot=mrθdot²−dV/dr. The first term is part of the coordinate acceleration, not a new outward real force in an inertial frame. Conservation of pθ makes angular speed increase as r decreases; constant angular speed is a different, externally driven situation.

Near a stable equilibrium q0, expand V to second order and use a constant local inertia M: V≈V(q0)+V″(q0)(q−q0)²/2. Then the small-displacement frequency is sqrt(V″/M). For a pendulum sinθ≈θ in radians, so ω=sqrt(g/l); the approximation requires small amplitude. A negative V″ gives instability, not an oscillation with an imaginary measurable frequency. Check the full nonlinear equation first, then state the approximation and compare units: V″/M must have units of inverse time squared.

A cyclic coordinate is absent from L itself; its velocity need not be absent. Do not discard the time derivative of a changing r² factor.

holonomic constraint: A constraint expressible as a relation among coordinates and possibly time.

cyclic coordinate: A coordinate absent explicitly from the Lagrangian, with conserved canonical momentum under the Euler–Lagrange equation.