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6
Modeling the Motion of a Top
With Lagranges Equation
nutation
angle
topspinrate
Precession
angle
We need 4 reference frames:
1
Trot= {x2Ix+y2Iy+z2Iz}
2
0 0 0
xzIxzxyIxyyzIyz
= s g y + c g z g x g z
= g x s g y + c + g z
1 2 1 1
Trot A o A o s Co (c
2 2
)
2
2 2 2
V = mg l c
1 2 1 1
L
L=TV= A A 2 2
s C(
c
) 2
- mg llc
2 2 2
d L L
0
dt q i q i
L
A
d L
A
dt
1 2 1 1
L
L=TV= A A 2 2
s C(
c
) 2
- mg llc
2 2 2
L
0
L
C( c
)
d L d
dt dt
C( c
)
d L L
0
dt q i q i
A - A s c C s ( c ) mgls
2
d
dt
C( c ) = 0
L
0
L
As2 C( c
)c
d d
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d L
As 2
2As c C(-s )( c )
dt
As C(
2Ac c
) s
d L L
0
dt q i q i
2Ac C ( c ) 0
As
Equations of Motion:
A - A 2 s c C s ( c ) mgls
2Ac C ( c ) 0
As
d
dt
C( c ) = 0