Find a suitable set of generalized coordinates for point particle moving on the surface of a hemisphere of radius R whose center is at the origin.

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We can use the calculus of variations to solve a classic problem in the history of
physics the branchistochrome.Consider a particle moving in a constant force field starting
at rest from some point (x1,y1) to some lower point (x2,y2).

Find a suitable set of generalized coordinates for point particle moving on the surface of
a hemisphere of radius R whose center is at the origin.

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