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Aiea STRONG VARIATIONAL FORMULATION INCLUDING NONPOTENTIAL FORCES Departamento de Matematica Universidade de Taubaté 12100 - Taubaté - SP - BRASIL INTRODUCTION ‘The use variational principles leads to the so called “inverse problem of the calculus of variations”, j.e., the existence and formulation of a functional, whose variation, once vanished, supplies the boundary problem in consideration, Historically, the inverse problem of the calculus of variatious is related to the idea of fiud- ing a potential for a conservative force. The first work in this context, due to Lagrange [1), conceives as conservative any force which is derived from a scalar potential function V » depending on the position # only; i.e . a__oVv OF Not all forces, however, até potential in the Lagrangean sense. A first attempt to extend tat notion was introduced by Weber [2] who proposed a more general idea of a potential which depends not only on the position but also on the velocity of the particles under analysis. In that case, Uhe force is defined by: or where {7 stands for the variational derivative of V with respect to #. Clearly, this definition includes also the potential forces in the Lagrangean sense as a particular case. An important example of a conservative force, in that sense, is the so-called "Lorentz force” Faq(E+ax B) which derives from the potential a¢-ud where $ and A are the scalar and vectorial potentials respectively. There are also other potential forces in Weber's sense worth of mentioning, which some authors refer to as ficlitious forces. Those are really “gyroscopic forces” which appear when coordinate systems in movement are considered. Hence, sf # is a function not only of the generalized coordinates 4, but also of time, the kinetic energy of the system will have at least two terms, ic. © a quadratic term in the coordinates f and * a linear term also in the coordinates § ‘The latter implies the existence of a gyroscopic force G given by: ' Gi=Y dint with jan = Je Itis interesting to observe thal due to the anlisymmelry of the coefficients ju the gyro scopic forces have a power P given by P=GG= LD riadite 74 which is identically null. As an example of a gyroscopic force, one can mention the Coriolis’ force Fa -2mw(y -#) derived from the potential Vs mu(xg- iy) in Weber's sense. On the other hand, there are conservative forces (in the se of the system is kept constant) which are not potential, i.e., will no V such as sv Uhal the mechanical energy a_ _6Vv F An example of such situation is a force defined by Paar where Qj = —05;. Such force is called radial correction force. Ib is oriented in a direction perpendicular to the vector and do not do any work In continuum mechanics such forces come from the divergence terms present in Le- Srangean densities. The Euler-Lagrange equations corresponding lo the divergence terins are identically null (in the sense of mechanical energy conservation). Among the dissipative forces, which exhibit a potential, one should mention the force resisting to the movement of a sysiem, opposed to its velocity, i.e, Fy lly derived fromm potential R (Rayleigh dissipation function) given by Lae? Such a force F is rea With this potential, the corresponding Euler-Lagrange equation results lo be d {aL} _ ab {ar a [ei] © OG” 85 It is worth stressing that, nevertheless, the inverse problem of the calculus of variations is not yet solved, for it seems that it is not any Lagrangean density which contains the potentials L and R. In other words, there is no functional f which implies that Euler Lagrangean equation. ' Finally, there are forces which are not. potential and noncouservative, as for instance, the follower forces, in which case the work done depends on the integration path (the notion of work is here understood as a force circulation). ‘The so called circulatory forces are those depending only on the generalized displacements and they are nonconservative. As one can see, depending upon the physical circumstances, the forces may or may nol be derived from a potential. The condition for a force to be originated froin a Lagrange {ype potential V is that the following symmetry condition must hold: OF, _ OF; Or; * ry For potential forces, as those proposed by Weber, the corresponding symmetry conditions were derived by Helmholtz [4], In the case of linear operators, the symmetry condition corresponds to its coincidence with ils adjoint The symmetry condition for nonlinear operators was predicted by Vito Volterra, stated by Kerner [5], and demonstrated by Vainberg [6]. In [7] the author has introduced the notion of an adjoint operator associated to a nonlinear operator J*, generalizing Lhis notion of symmatry, summarizing it by the condition F(u) = F"(u) In this work a method is presented to demonstrate how to find a functional whose variation will provide the equations of motion which includes nonconservative and non potential forces. ‘ ‘THE EQUATION TO BE CONSIDERED Consider the following system of equations: Mardy + (Da — Gri) tir + (Pas = Cua) uy (1) where Mg) are cleinents of the mass matrix (symmetrical), Dy; are elements of the dissi- pation matrix caused by viscosity forces, friction, ete, (symmetrical), Py are elements of 3 the potential forces matrix (vymimeétsical), Gx; are elements of the gyroscopic forces matrix (autisymunetrical), and, finally, Cy are elements of the circulatory forces matrix, In matrix form, equation (1) can be written as follows: Mi+(D-G)a+(P—C)u (@) where u = (usta)... 0)”. Introducing the following separation of variables: u(z,t) = v(z)ezp[At] (3) where v is a vector whose components % depend only on 2, * un = dalz) + ide (z) (4) and A is a complex number of the type: A=a+fi (5) Substituting (3) in (2), we obtain: {Ma?+(D-~9)A+(P-C)}v=0 (6) Since at Bi and = (a? ~ 6) + (2af) we have {mM [(0? - 6°) +i (208)] +(D-G)(a+ip)+ (P-o)}v= or {[M (0? ~ 8) +(D- Bat (P—C)] + i2apMm 4 (D-9)6}}v =ly={R+iT}v=0 (7) FUNCTIONAL FORMULATION Given b=¢-ip and multiplying (7) by 3 we have (Lo) #=L:v@i (7a) Since VOH=($Od4+4OV)1i(bS-vOd)=S+iIA 4 we obtain (Lv) = Li (Sia) =(R+iT):(S+iA) that is (Lo) 8 =(RiS—-T: A) +i(S:T +R: A)=(Ry:S—T: A) +i(T:S+ Ra: A) where R, is the symmetrical par of R, that is, Ry = M (a? - f) + Da +(P -C,) MU we proceed in the same way, R, is the anli-symmetrical part of R, that is, =-Ga-C, Likewise, we have, T=~-Gp T=2a8M+ADd and consequently plte)om {[2M 25 (0H) +10:8041(P—c,:5| + [59 48)} +E {eapar: Now, introducing the energy functionals +d: 5) +[ m= 5M iS = EM (Gite + Yiv) = 5a (de + via) lik (ibn + Bibs) 1S= F(a (tide + viv) = EG (Ost = Wd) = J Coda (ta ~ de) we obtain the following functional: J=|m(o?-#) t+ad+p+Bg~o]+i2maf+ pd—ag—e) (8) ‘The “energies” in f are of two kinds, namely, 1, the symmetrical type, as: 1 ma5M:s 2. the anti-symunetrical type, for example: 1 g=5GtA Nence, calculating $2, $2, Ubat is, dm _1,, as Bp aM ay = FM (Bibi fd) = 2 (4M + dM) 1 (Min + Mis) = bMiy = Me In the sane way: ag 19, 8A a4 a6 = FG ith ~y6n) = # (Cuda ~ ¥5G3) = 5 (Gals — Wu) =} (Gu + Guts) since Gay = — Gy, Then: 8 ag = 8 In the same sense a ‘ og y= 3 Gin (36x: — jibx) = 5 (iGui~ Cuts) =~ Gath = 98 Summarizing dm Om ag Me ap = MY Haogy %_ gg og on DEDUCING TH ! EQUATIONS OF MOTION FROM THE FUNCTIONAL { Let us refer to the equations of motion (7) (the eigenvalue problem), (R+iT)v=0 (7) Since v = $+ iy, (7) can be decomposed into the following equations: RO-TH=0 (72) Té+ Ry = (70) we demonstrate that these equations correspond respectively to the deduced equations of the variation of te functional f. ‘To perform this Lask, first we observe that the functional J is given in (8) by the type expression: Sf=U+iV which can be written (in a general form), as, (RyiS— Ts A HER (GS-4 Ret A) () “2 where £, and L, indicate respectively the symmetrical and antisymmetrical parts of the tensor £, Starling with (9), we demonstrate that: implying that, and, This resulls in, meaning, . ‘g ual Bp 7 Fei (ReS-T: Al) = Rb Typ and, av a1 : De = Hpglh iS + Rat Al = Ty — Rad Hence, = Rig — Te - Te + Rag = RO — Ty = 0 which is the first motion equation~Qn the other hand wan Fr = a g(ReS- Ti A) = Ra + TZ Ww ap gl S-Ti A =RV+ Te _~ av_ a Sas n: 2 Al) = Td + Red Bg 7 Hg gh $+ Ra: Al) = T+ Rew Then: au vy ob" 38 implies that To4+Ry=0 which is the second equation, GENERALIZATION In this paragraph, the Ideas suggested in previous sections are formulated more abstractly and in a systematic way. To do this, the first notion lo be presented here is the “complexi- fication” of a real vector space. Suppose E is a real vector space, The complexification of E, described below, extends € to €, a complex vector space. It is now claimed that the set of rents = {(4,) lbw € €) with the usual addition of ordered pairs aud multiplication by a scalar (complex) constitutes a complex vector space, Hence, one expects to find € embedded in & by the identification (¢,0) that we can write (4,9) = ¢+ip. . Suppose now that £ has a dual €* and that the real operator R, which act from £ into &, is extended in a natural way to a linear operator R from & into & following definition piu such way , accomplished by the Ro + iv) = Rg) +i R(Y) In the sequel we need two kinds of bilinear forms in & x &*. Let < $7, > denote the canonical pairing of the real spaces € and €*, and consider the followiug bilinear forms s and w, pairing € and &* defined by s[Rlv) p] =< RU), 4 > 4+ < RIV) eS (io) w{R(v) jy] =< Rid), b> — < RWW) a> ay for all otiped lor from by adjoint ®* of Ris also an ope ical parts of Rare giv If € is a real reflexive Banach spacg, then the E to E*. In this case, Lhe symmetrical and antisyrame R (2) (18) Using (12) and (13), we note that the expressions (10) and (11) can be reformulated in terms of R, and R, as 5 [R(o) |p] =< BiH), b> + < RoW) b> (12) w[R(w) pb] =< Rd), b> — < Rel) o> (3!) if'we construct a new functional f by analogy q Now, the required objective can be achie with Uie functional (9), Making this, we ol {5 [Ro by] ~ w fw) bo]} fs [F (0) bo] + [%@) oJ} =U -EV, By laking into account the following variational derivatives Fy 7 Raley TY) and vd Fp 7 BO RW) it is very easy to demonstrate that the Euler-Lagrange equations of (9'), i.e. ou bv Bow 0 (14) and 5U bv apt 6 ”) leads to the equation of motion ‘The proof follows readily aud is left for the reader. 9

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