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One of the greatest advances in science was Newton's discovery that the force of gravity is a universal force that not only causes terrestrial objects to fall but also guides the Moon around the Earth and the planets around the Sun. It was not previously understood that the Moon and planets – indeed the universe – obey the same physical laws as terrestial objects. We take this for granted today, but it was a revolution in human understanding, one from which there has been no turning back.
Our goal in this chapter is to show how this problem – the Kepler problem of planetary orbits – can be solved using the powerful analytical techniques of Lagrangian mechanics. We begin by considering the general solution for motion in a one-dimensional potential V(q). Next, we consider a six-dimensional system of two isolated point masses that interact by a mutual force directed along the line between them. This applies to a wide class of physical problems, with results of general significance. By using symmetry properties we can drastically simplify the problem down to a single equation involving only the radial distance between the two masses. At this stage, by introducing the concept of equivalent potential, the problem is reduced to one with only one degree of freedom. Proceeding further, we restrict our consideration to the force of gravity, a force that diminishes according to the inverse of the square of the distance between the attracting bodies. […]
An oscillator is a system with periodic motion. In mechanical systems, there is a restoring force that can do both positive and negative work as the system moves. Positive work done by this restoring force changes the kinetic energy into potential energy. Negative work done by the force turns the potential energy back into kinetic energy. If the force is linearly proportional to displacement, the oscillator is a linear or simple harmonic oscillator. Linear oscillators have many special properties. In particular, linear oscillators have the important property that the oscillation frequency is independent of amplitude. (This is not true if the oscillator is nonlinear.) The importance of linear oscillators in mechanics lies in the fact that, for small vibration amplitudes, we can approximate the dynamics of most mechanical systems as linear oscillators. Not only mechanical systems like a vibrating airplane wing, but, beyond the realm of mechanics, electrical systems and even an electron bound in an atom can be usefully modeled in this way. To understand large-amplitude oscillatory motion, we have to study nonlinear oscillators. The pendulum is an example of an oscillator that is linear at small amplitudes, yet becomes nonlinear at large amplitudes.
To discuss linear oscillators in a physically realistic way, we must depart from our dealings with conservative systems and introduce a special “damping” force which extracts energy from the oscillator. […]
The Physics Department at Cornell offers two intermediate-level undergraduate mechanics courses. This book evolved from lecture notes used in the more advanced of the two courses. Most of the students who took this course were considering postgraduate study leading to future careers in physics or astronomy. With a few exceptions, they had previously taken an introductory honors course in mechanics at the level of Kleppner and Kolenkow. Many students also had an Advanced Placement physics course in high school. Since we can assume that a solid background in introductory college-level physics already exists, we have not included a systematic review of elementary mechanics in the book, other than the brief example at the beginning of Chapter 1.
Familiarity with a certain few basic mathematical concepts is essential. The student should understand Taylor series in more than one variable, partial derivatives, the chain rule, and elementary manipulations with complex variables. Some elementary knowledge of matrices and determinants is also needed. Almost all of the students who took the honors analytic mechanics course at Cornell have either completed, or were concurrently registered in, a mathematical physics course involving vector analysis, complex variable theory, and techniques for solving ordinary and partial differential equations. However, a thorough grounding in these subjects is not essential – in fact some of this material can be learned by taking a course based on this book.
As it would be viewed by an observer on the Sun, you are racing along at 66,700 miles/hr on an elliptical orbit. A different observer, located at the center of the Earth would see you rotating at 1,038 miles/hr. Yet, in everyday life, we are not normally aware of this. The description of motion depends on the reference frame. Inertial reference frames play a special role.
The Earth we live on is not an inertial frame. It is possible for someone on Earth to detect the Earth's rotation by detecting small deviations from Newton's Laws. While he was still an undergraduate, A. H. Compton invented a table-top experiment which not only demonstrated the Earth's rotation, but also measured the latitude of the laboratory. We need to develop a systematic way of translating back and forth between the description of motion in a rotating frame and the description in an inertial frame. This is a purely geometric or “kinematic” mathematical process, because we assume that the relative motion of the two reference frames is fully specified and is not subject to change by the action of forces, at least within the time period of the experiments we wish to do or during the observations we wish to make.
Motion can take place on a rotating body and be observed either with a reference frame fixed in the body, or from outside (i.e., a coordinate system fixed in “space”). […]
Consider a mechanical system that has N degrees of freedom. Assume also that the system is close to one of its stable equilibrium points. We will show that this system acts like N independent SHOs, usually with N different frequencies. One or more of these independent oscillations can be present depending on the initial conditions. In a state where only a single oscillation frequency is excited, the N different degrees of freedom move synchronously at a common mode frequency. The ratios between the different displacements for each degree of freedom, known as the mode displacement ratios, are an intrinsic characteristic of the normal mode that is oscillating. The amplitude of any particular mode is known as the normal coordinate. Each normal coordinate oscillates in time like a single SHO. All possible movements of the system, for sufficiently small displacements from the equilibrium point, can be described as a linear combination of modes.
Why do we concentrate on “small” vibrations for such a system? By definition, if the differential equations of motion are linear, the system is then said to be a linear system. Taylor's theorem guarantees that most systems are linear if the displacements are small enough. The motion can then be approximately described by a set of linear differential equations very similar to the equation for a simple harmonic oscillator. […]
Nature is found to conspire in just such a way that the time integral of the Lagrangian is smallest if the motion obeys Newton's Laws. Mechanics can be based on the single principle: Minimize the time integral of the Lagrangian. Three laws of motion can be condensed into one universal principle!
The mathematical language needed to provide the framework for this is called variational calculus. The variational calculus can be used as a powerful tool in solving mechanics problems with explicit constraints. It is also the most general means of solving nonholonomic problems with constraints on the velocities such as for rolling motion. This type of problem cannot be solved by choosing coordinates equal to the number of degrees of freedom but must be embedded in a higher-dimensional space.
The well-known theoretical physicist E. P. Wigner refers to the “unreasonable effectiveness of mathematics in theoretical physics.” Mathematical beauty is and should be the chief guiding principle of theorists, according to P. A. M. Dirac, one of the inventors of quantum mechanics. Although it is hard to define exactly what mathematical beauty is, the search for beauty was the guiding principle in the invention of two major advances in physics in the twentieth century: relativistic quantum mechanics and general relativity. In this chapter, we will discover an elegant formulation of classical mechanics. The mathematical techniques uncovered here are not only beautiful, but they have become the language of modern theoretical physics. […]
Joseph Louis Lagrange reformulated Newton's Laws in a way that eliminates the need to calculate forces on isolated parts of a mechanical system. Any convenient variables obeying the constraints on a system can be used to describe the motion. If Lagrangian mechanics rather than Newtonian mechanics is used, it is only necessary to consider a single function of the dynamical variables that describe the motion of the entire system. The differential equations governing the motion are obtained directly from this function without any vector force diagrams. Lagrangian mechanics is extremely efficient: There are only as many equations to solve as there are physically significant variables.
Lagrange did not introduce new physical principles to mechanics. The physical concepts are due to Newton and Galileo. But he succeeded in giving a more powerful and sophisticated way to formulate the mathematical equations of classical mechanics, an approach that has spread its influence over physics far beyond the purely mechanical problems.
We will begin by solving some examples that lead us toward this new formulation of mechanics. We plan to use the concept of virtual work to derive this. We will consider extended rigid bodies to be made up of collections of massive point particles. Summing over the constituent particles will lead to an efficient and general method for obtaining the differential equations of motion for any frictionless mechanical system. […]
Of the order of the discussion, which requires that we speak first of the eternal punishment of the lost in company with the devil, and then of the eternal blessedness of the saints
We come next to the nature of the punishment which is to be visited upon the devil and all who belong to him when the two cities – the City of God and the city of the devil – have reached their deserved ends through Jesus Christ our Lord, the Judge of the living and dead. I shall in this book discuss this question more diligently, as far as God's help enables me to do so.
I have adopted this order, and preferred to deal with the felicity of the saints later, because, though both the saved and the damned will then be united with their bodies, it seems more incredible that bodies will endure in everlasting torments than that they will remain without any pain in eternal blessedness. Thus, when I have demonstrated that such punishment ought not to be thought unbelievable, this will be of great help to me; for it will make it easier to believe in the immortality of the bodies of the saints, which are delivered from all pain.
Moreover, this order is not at variance with the divine writings. For, in such writings, the blessedness of the good is sometimes put first, as in the words, ‘They that have done good, unto the resurrection of life; and they that have done evil, unto the resurrection of damnation.’
It is clear, then, that felicity consists in the full attainment of all desirable things. It is not a goddess, however, but a gift of God. Therefore no god should be worshipped by men except one who is able to bestow felicity on them. Hence, if felicity itself were a goddess, we might fairly say that Felicity alone would be the proper object of worship. But only God can confer those blessings which can be received even by men who are not good, and who therefore do not have felicity. Now, therefore, let us consider why He willed that the Roman empire should be so great and so enduring. For we have already argued at length that the great number of false gods whom the Romans worshipped did not accomplish this, and we shall continue to say this wherever it seems appropriate to do so.
That the cause of the Roman empire, and of all kingdoms, is not mere chance; nor does it consist in the position of the stars
According to the judgment or opinion of some, things happen by ‘chance’ when they have no cause, or no cause arising from a rational order, and by ‘fate’ when they come about not by the will of God or men, but as a result of a necessary sequence. The cause of the greatness of the Roman empire is therefore neither chance nor fate; for it is beyond doubt that human kingdoms are established by divine providence.
Preface: The plan and argument of the work here undertaken
Most glorious is the City of God: whether in this passing age, where she dwells by faith as a pilgrim among the ungodly, or in the security of that eternal home which she now patiently awaits until ‘righteousness shall return unto judgment’, but which she will then possess perfectly, in final victory and perfect peace. In this work, O Marcellinus, most beloved son – due to you by my promise – I have undertaken to defend her against those who favour their own gods above her Founder. The work is great and arduous; but God is our helper.
I know, however, what efforts are needed to persuade the proud how great is that virtue of humility which, not by dint of any human loftiness, but by divine grace bestowed from on high, raises us above all the earthly pinnacles which sway in this inconstant age. For the King and Founder of this City of which we are resolved to speak has revealed a maxim of the divine law in the Scriptures of His people, where it is said, ‘God resisteth the proud but giveth grace unto the humble.’ But the swollen fancy of the proud-spirited envies even this utterance, which belongs to God, and loves to hear the following words spoken in its own praise: ‘To spare the humble and subdue the proud.’
As I promised in the last book, this final book of the whole work will contain a discussion of the eternal blessedness of the City of God. This City is called ‘eternal’ not because its existence is extended through many ages but will nonetheless at some time come to an end, but in the sense intended in the Gospel, where it is written that ‘of His kingdom there shall be no end’. Nor will that City be like an evergreen tree, where the same greenness seems to persist because the appearance of dense growth is preserved by the emergence of fresh leaves in the place of those which wither and fall: it will not present a mere appearance of perpetuity by new members arising to succeed those who die. Rather, all the citizens of that city will be immortal; for men also will obtain that which the angels have never lost. This will be brought about by God, the most almighty Founder of that City. For He has promised it, and He cannot lie; and He has shown His good faith by doing many things that He has promised, and many, indeed, that He has not promised.
For He it was Who in the beginning made the world and filled it with all good things, both visible and intelligible. Among these things, He created nothing better than those spirits to whom He gave intelligence, making them capable of contemplating and apprehending Him.
When I began to speak of the City of God, I thought it necessary first of all to answer its enemies, who pursue earthly joys and long only for fleeting things. They rail against the Christian religion, which is the one saving and true religion, for whatever sorrows they suffer in respect of these things. And they do this even though they suffer rather through the mercy of God in admonishing them than from His severity in punishing.
Among those enemies there are many ignorant men whose hatred of us is all the more grievously inflamed by the authority of the learned. For the former believe that the extraordinary events which have occurred in their own day did not occur at all in times gone by; and they are supported in this belief even by those who know it to be false, but who conceal their knowledge in order to seem to have just cause for murmuring against us. It was necessary, therefore, to demonstrate from the books in which their own authors have recorded and published the history of times gone by, that matters are far other than the ignorant suppose. At the same time, it was necessary to teach that the false gods whom once they worshipped openly, and still worship in secret, are most vile spirits and malignant and deceitful demons: so much so that they take delight in crimes which, whether real or fictitious, are nonetheless their own, and which they have desired to have celebrated for them at their own festivals.
Whether any families are to be found in the period after the Flood from Noah to Abraham whose members lived according to God
Was the progress of the Holy City continuous from the time of the Flood onwards, or was it so disrupted by ungodliness that, at times, not one man existed who was a worshipper of the one true God? It is difficult to find in Scripture any clear statement as to this question. But, from the time of Noah, who, with his wife and three sons and their wives, was found worthy to be saved in the Ark from the devastation of the Flood, we do not find, until the time of Abraham, anyone in the canonical books whose godliness is proclaimed by the divine eloquence. The exception to this is when Noah commended his sons Shem and Japheth in his prophetic blessing; for he knew and foresaw what was to happen far in the future. Hence it was also that he cursed his middle son – that is, the one younger than the first-born but older than the last – who had sinned against his father. Noah did not curse Ham in his own person, but in the person of his son, in these words: ‘Cursed be Canaan; a servant of servants shall he be unto his brethren.’ Now Canaan was the son of Ham, who did not cover his sleeping father, but, rather, drew attention to his nakedness.