Consider a solid sphere with mass m which starts from rest at the top of a frictionless fixed spherical shell of radius R, as shown in the figure below. The moment of inertia of the sphere is I = ma?. The best generalized coordinates are 0, ¢, and r. (a) Using the polar coordinate for the mass m, find the Lagrangian. (b) Then, find the equation of motion using Lagrangian multiplier to determine the forces of constraints when the solid sphere flies off the spherical shell and when the friction is insufficient to stop the rolling sphere from slipping. Note that there are two constraints; (1) the center of the sphere follows the surface of the cylinder r = R+a, and (2) the sphere rolls without slipping a(o – 0) = R0. %3D %3D Disk of mass m, radius a, rolling on a cylindrical surface of radius R.

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Consider a solid sphere with mass m which starts from rest at the top of a frictionless
fixed spherical shell of radius R, as shown in the figure below. The moment of inertia
of the sphere is I =ma?. The best generalized coordinates are 0, 6, and r. (a) Using
the polar coordinate for the mass m, find the Lagrangian. (b) Then, find the equation
of motion using Lagrangian multiplier to determine the forces of constraints when the
solid sphere flies off the spherical shell and when the friction is insufficient to stop the
rolling sphere from slipping.
Note that there are two constraints; (1) the center of the sphere follows the surface of
the cylinder r= R+a, and (2) the sphere rolls without slipping a(o - 0) = R0.
R
Disk of mass m, radius a, rolling on a
cylindrical surface of radius R.
Transcribed Image Text:Consider a solid sphere with mass m which starts from rest at the top of a frictionless fixed spherical shell of radius R, as shown in the figure below. The moment of inertia of the sphere is I =ma?. The best generalized coordinates are 0, 6, and r. (a) Using the polar coordinate for the mass m, find the Lagrangian. (b) Then, find the equation of motion using Lagrangian multiplier to determine the forces of constraints when the solid sphere flies off the spherical shell and when the friction is insufficient to stop the rolling sphere from slipping. Note that there are two constraints; (1) the center of the sphere follows the surface of the cylinder r= R+a, and (2) the sphere rolls without slipping a(o - 0) = R0. R Disk of mass m, radius a, rolling on a cylindrical surface of radius R.
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