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The purpose of this book is to provide a presentation of the geometrical theory of Lagrange and Hamilton spaces of order k, greater or equal to 1, as well as to define and investigate some new Analytical Mechanics. It is shown that a rigorous geometrical theory of conservative and non-conservative mechanical systems can be raised based on the Lagrangian and Hamiltonian geometries. And that these geometries relies on the mechanical principles. The book covers the following topics: Lagrange and Hamilton spaces; Lagrange and Hamilton spaces of higher order; Analytical Mechanics of Lagrangian and Hamiltonian mechanical systems. The novelty consists of the following: a geometrization of the classical non-conservative mechanical systems, whose external forces depend on velocities, the notion of Finslerian mechanical system, the definition of Cartan mechanical system, a theory of Lagrangian and Hamiltonian mechanical systems by means of the geometry of tangent (cotangent) bundle, the geometrization of the higher order Lagrangian and Hamiltonian mechanical systems, fundamental equations of Riemannian mechanical systems whose external forces depend on higher order accelerations.
This book contains the exercises from the classical mechanics text Lagrangian and Hamiltonian Mechanics, together with their complete solutions. It is intended primarily for instructors who are using Lagrangian and Hamiltonian Mechanics in their course, but it may also be used, together with that text, by those who are studying mechanics on their own.
A concise treatment of variational techniques, focussing on Lagrangian and Hamiltonian systems, ideal for physics, engineering and mathematics students.
The book introduces classical mechanics. It does so in an informal style with numerous fresh, modern and inter-disciplinary applications assuming no prior knowledge of the necessary mathematics. The book provides a comprehensive and self-contained treatment of the subject matter up to the forefront of research in multiple areas.
This book provides an accessible introduction to the variational formulation of Lagrangian and Hamiltonian mechanics, with a novel emphasis on global descriptions of the dynamics, which is a significant conceptual departure from more traditional approaches based on the use of local coordinates on the configuration manifold. In particular, we introduce a general methodology for obtaining globally valid equations of motion on configuration manifolds that are Lie groups, homogeneous spaces, and embedded manifolds, thereby avoiding the difficulties associated with coordinate singularities. The material is presented in an approachable fashion by considering concrete configuration manifolds of increasing complexity, which then motivates and naturally leads to the more general formulation that follows. Understanding of the material is enhanced by numerous in-depth examples throughout the book, culminating in non-trivial applications involving multi-body systems. This book is written for a general audience of mathematicians, engineers, and physicists with a basic knowledge of mechanics. Some basic background in differential geometry is helpful, but not essential, as the relevant concepts are introduced in the book, thereby making the material accessible to a broad audience, and suitable for either self-study or as the basis for a graduate course in applied mathematics, engineering, or physics.
This book is the first to present an overview of higher-order Hamilton geometry with applications to higher-order Hamiltonian mechanics. It is a direct continuation of the book The Geometry of Hamilton and Lagrange Spaces, (Kluwer Academic Publishers, 2001). It contains the general theory of higher order Hamilton spaces H(k)n, k>=1, semisprays, the canonical nonlinear connection, the N-linear metrical connection and their structure equations, and the Riemannian almost contact metrical model of these spaces. In addition, the volume also describes new developments such as variational principles for higher order Hamiltonians; Hamilton-Jacobi equations; higher order energies and law of conservation; Noether symmetries; Hamilton subspaces of order k and their fundamental equations. The duality, via Legendre transformation, between Hamilton spaces of order k and Lagrange spaces of the same order is pointed out. Also, the geometry of Cartan spaces of order k =1 is investigated in detail. This theory is useful in the construction of geometrical models in theoretical physics, mechanics, dynamical systems, optimal control, biology, economy etc.
An Introduction to Lagrangian Mechanics begins with a proper historical perspective on the Lagrangian method by presenting Fermat's Principle of Least Time (as an introduction to the Calculus of Variations) as well as the principles of Maupertuis, Jacobi, and d'Alembert that preceded Hamilton's formulation of the Principle of Least Action, from which the Euler-Lagrange equations of motion are derived. Other additional topics not traditionally presented in undergraduate textbooks include the treatment of constraint forces in Lagrangian Mechanics; Routh's procedure for Lagrangian systems with symmetries; the art of numerical analysis for physical systems; variational formulations for several continuous Lagrangian systems; an introduction to elliptic functions with applications in Classical Mechanics; and Noncanonical Hamiltonian Mechanics and perturbation theory.The Second Edition includes a larger selection of examples and problems (with hints) in each chapter and continues the strong emphasis of the First Edition on the development and application of mathematical methods (mostly calculus) to the solution of problems in Classical Mechanics.New material has been added to most chapters. For example, a new derivation of the Noether theorem for discrete Lagrangian systems is given and a modified Rutherford scattering problem is solved exactly to show that the total scattering cross section associated with a confined potential (i.e., which vanishes beyond a certain radius) yields the hard-sphere result. The Frenet-Serret formulas for the Coriolis-corrected projectile motion are presented, where the Frenet-Serret torsion is shown to be directly related to the Coriolis deflection, and a new treatment of the sleeping-top problem is given.
An Introduction to Lagrangian Mechanics begins with a proper historical perspective on the Lagrangian method by presenting Fermat's Principle of Least Time (as an introduction to the Calculus of Variations) as well as the principles of Maupertuis, Jacobi, and d'Alembert that preceded Hamilton's formulation of the Principle of Least Action, from which the Euler?Lagrange equations of motion are derived. Other additional topics not traditionally presented in undergraduate textbooks include the treatment of constraint forces in Lagrangian Mechanics; Routh's procedure for Lagrangian systems with symmetries; the art of numerical analysis for physical systems; variational formulations for several continuous Lagrangian systems; an introduction to elliptic functions with applications in Classical Mechanics; and Noncanonical Hamiltonian Mechanics and perturbation theory.This textbook is suitable for undergraduate students who have acquired the mathematical skills needed to complete a course in Modern Physics.
This textbook takes a broad yet thorough approach to mechanics, aimed at bridging the gap between classical analytic and modern differential geometric approaches to the subject. Developed by the authors from over 30 years of teaching experience, the presentation is designed to give students an overview of the many different models used through the history of the field—from Newton to Hamilton—while also painting a clear picture of the most modern developments. The text is organized into two parts. The first focuses on developing the mathematical framework of linear algebra and differential geometry necessary for the remainder of the book. Topics covered include tensor algebra, Euclidean and symplectic vector spaces, differential manifolds, and absolute differential calculus. The second part of the book applies these topics to kinematics, rigid body dynamics, Lagrangian and Hamiltonian dynamics, Hamilton–Jacobi theory, completely integrable systems, statistical mechanics of equilibrium, and impulsive dynamics, among others. This new edition has been completely revised and updated and now includes almost 200 exercises, as well as new chapters on celestial mechanics, one-dimensional continuous systems, and variational calculus with applications. Several Mathematica® notebooks are available to download that will further aid students in their understanding of some of the more difficult material. Unique in its scope of coverage and method of approach, Classical Mechanics with Mathematica® will be useful resource for graduate students and advanced undergraduates in applied mathematics and physics who hope to gain a deeper understanding of mechanics.