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Euler Equations
Euler Angles
HEAVY Symmetrical Top
2
0
0
3
z; L 3 z
..(1)
Gravity ON
Lets turn on the gravity causing a torque (make it weak..how?)
N R Mg
KEY Points:
Magnitude is RMgsin and direction normal to z and
axis of the top
Existence of N indicates that L STARTS to change
Change of L implies starts to change. Components
x and y cease to be zero, though small as torque is
weak and eq (1) remains a good approx.
L changes in direction but not in magnitude
L 3 z
Precession
Changing the arguments to mathematical expressions:
LN
z R Mg
3
Rz M gz
MgR z z
dz MgR
z z
dt 3
?????
Simple Physics
dz
z
dt
The top-axis rotates about the
dz MgR
dt
3
z z
Consequence
The earth spins on its axis, much like a spinning top & the
axis of spin is inclined at an angle 230 from the normal to
the earths orbit around the sun. Because of earths bulge
at the equator, sun & moon exert small torques on earth &
the torques cause earths axis to precess slowly (one full
turn in 26000 yrs), tracing out a cone of angle 230 around
Euler Equations
The Euler equations are the equations of motion of a rotating
body like motion of a top
KEY:
Before we launch Eulers equation, there is a complication we
must now face up. To take advantage of principal axes, we like
to use those as our coordinate axes. But they are fixed in the
body and they rotate with the body and therefore noninertial !!
The way out is the following relation:
d
dt
fix
dt
rot
Euler Equations
d
dt
fix
dt
rot
dL
dt
x, y, z
fix
dL
dt
rot
L1 I11 ;
L2 I 22
x
L 1
I
1 1
rot
2
I 22
L3 I 33
z
3
I 33
1 x
2 y
3 z
Euler Equations
Combining:
N1 I 1 1 I 3 I 2 23
N 2 I 2 2 I 1 I 3 31
N 3 I 3 3 I 2 I 1 12
Torque-free motion
For torque-free motion
I 1 1 I 3 I 2 23
I 2 2 I 1 I 3 31
I 3 3 I 2 I 1 12
Consider:
a) I 1
I2 I3
The Consequence
I 1 1 I 3 I 2 23
I 2 2 I 1 I 3 31
I 3 3 I 2 I 1 12
The Consequence
I 1 1 I 2 I 3 3 2
I 2 2 I 3 I 1 3 1
I 3 I 2 I 3 I 1 2
1
3 1
I1I 2
Transformation
The transformation from one coordinate system to another can
be represented by a matrix equation:
X X
Body system
Fixed system
The rotation matrix completely describes the relative orientation of the two
systems. For a rigid body, contains three independent angles, (,,).
We will see sequence of three rotations about three different axes allows to
take us from fixed axis to body axis
Euler Angles
Z
The Steps
Step 1: Rotate system about Z axis by
Z
cos sin 0
sin cos 0
0
0
1
The Steps
Step 2: Rotate the body thro about the new X, i.e. ON. OZ OZ
Z
0
1
0 cos
0 sin
sin
cos
The Steps
Step 3: Rotate about new Z axis i.e. about OZ by . ON OX and we
have come to the body system
Z
cos
sin
0
sin
cos
0
X X
X
0
1
cos
sin
0
sin sin sin cos cos
0
0
1
Components
The components of these angular velocities along the body
set axes are:
Rotational Angles
Solution
We take the Lagrangian route:
1
1
2
2
T I 1 x y I 3 z2 I 1 I 2 I 3
2
2
1 2
1
2
2
2
I 1 sin I 3 cos
2
2
...........1
V mgl cos
1 2
1
2
2
2
The Lagrangian
1 2
1
2
2
2
L I 1 sin I 3 cos mgl cos
2
2
Clearly, L is cyclic in and and does not depend on t explicitly
L
p
I1 sin 2 I 3 cos cos b
L
p
I 3 cos a
1 2
1
2
2
2
H I1 sin I 3 cos mgl cos E
2
2
Top Motion
A general rotational motion of the top is a combination of those
motions.in terms of a and b, we have
b a cos
..............3
2
I 1 sin
This means that if is known as a function of time, and hence
will be determined
Final Equations
2
au
2
E
a
2mglu
2
1 u 2
u
I1
I1 I1 I1 I 3
2mgl
b I 1 ; a I 1 ; 2 E I 1 a I 1 I 3 ;
I1
2
u u u 1 u 2
2
du
dt ;
f u
f u u 1 u u
2
Comments
du
dt ;
f u
f u u 1 u 2 u
Looking into it
f u u 1 u 2 u
u=cos
Plots
du
dt ;
f u
f u u 1 u 2 u
Apparent conclusion
Lets rewrite some useful equations;
du
dt ;
f u
b a cos
; I 3 cos a
2
I 1 sin
0 and 0
b I1 ; a I1 ;
b a cos
b au0 u 0 u0
2
I 1 sin
Initial value of u
2
(Unless u0 = 0)
u 2 u u 1 u 2
u0 u u0 u 1 u 2
2
More Physics
PE << KE (or equivalently total E) FAST TOP
I1
V mgl cos mgl
2
2
2 2
1
a
I
2
1
T I 3
2
2I3
2I3
I1
I 12 2
2 I1
2
2
2I3
I3
I1 I 3 1
Fast Top
u u0 u u0 u 1 u 2
2
vanishes for
Obviously, u
0 u0 u1 u0 u1 1 u12
2
1u
u u
2
1
u1 u0
2
1 u 2 1 u02 sin 2 0
u u0 u u0 u 1 u
2
u0 u u0 u sin 2 0
2
sin
sin
0
2
0
u0 u
2
2
2
4
4
sin
sin
2
2
u u
u u
2
2
4
2
2
2
2
u u u
42
4
d
sin
2
2
u u u u
2
4
dt
2I 1
T
I 3 z
I 3 cos a
a I1
Conclusion
2I 1
T
I 3 z
1. For the fast top, nutation is a SHM with small spread of value
of u.
2. T varies inversely as spin velocity. If latter is large, T will be small
correspondingly. Thus the nutational range is small and takes
place rapidly so one would hardly be able to observe it. One then
would think that there is no nutation at all and the motion is termed
it as pseudo-regular precession.
u u u 1 u 2
2
1 u 2 1 u
2
f(u) vs u curve
One can argue that curve II not curve I is the sleeping top
Argument
With curve I, 3rd root of f(u) corresponds to real , say 1, so the top may
have a nutational motion between 1 and 0 but for curve II 3rd root give an
imaginary and f(u)>0 only for u=1 so the motion is restricted to u=1,
there is no nutation, nor even at precession but simply the top goes on
spinning with its axis vertical. Such a motion is called a sleeping motion
Mathematical Condition
Condition: 3rd root of f(u)=0 must occur at u1>1
2
u 2 1 u 2 1 u
2
1 u1
2
I 32 2 4 mgl
z 2
I1
I1
4 mglI 1
Condition to sleep: z
I 32
Wake up
Q. Does a top wake up some time?
A. The top does wake up. This is because the frictional
force cause a dissipation of the KE so that spin velocity
Problem
Find the torque needed to rotate a rectangular plate of length
b and breadth a about a diagonal with constant
b
x x y y 0 z
x
.x x . y y
a
y
1 0 2
M b 2 a 2 ab
N3 0
z
2
2
12 a b
a
a2 b2
b
a2 b2