Brachistochrone

Introduction

To find the shape of the curve which the time is shortest possible. . .

We use WxMaxima to do the calculus part.

Theory

Variational Calculus and Euler--Lagrange Equation

The time from $P_{a}$ to $P_{b}$ is $t=\int _{P_{a}}^{P_{b}}{\frac {1}{v}}ds$ where $ds={\sqrt {1+y'{^{2}}}}dx$ is the Pythagorean distance measure and $v$ is determined from the the law of conservation of energy ${\frac {1}{2}}mv^{2}=mgy$. giving $v={\sqrt {2gy}}$. Plugging these in, we get $t=\int _{P_{a}}^{P_{b}}{\sqrt {\frac {1+y'^{2}}{2gy}}}dx=\int _{P_{a}}^{P_{b}}fdx$, where $f=f(y,y')$ is the function subject to variational consideration.

According to the Euler--Lagrange differential equation the stationary value is to be found, if E-L equation ${\frac {\partial f}{\partial y}}-{\frac {d}{dx}}{\frac {\partial f}{\partial y'}}=0$ is satisfied.

No Friction

Since $f$ does not depend on $x$, we may use the simplified E--L formula $f-y'{\frac {\partial f}{\partial y'}}=$ Constant. We get

${\frac {\partial f}{\partial y'}}={\frac {\partial }{\partial y'}}{\sqrt {\frac {1+y'^{2}}{2gy}}}={\frac {1}{\sqrt {2gy}}}{\frac {\partial }{\partial y'}}{\sqrt {1+y'^{2}}}={\frac {2y'}{\sqrt {2gy}}}{\frac {1}{2{\sqrt {1+y'^{2}}}}}$.

Thus, we have

$f-y'{\frac {\partial f}{\partial y'}}={\sqrt {\frac {1+y'{^{2}}}{2gy}}}-{\frac {y'{^{2}}}{{\sqrt {2gy}}{\sqrt {1+y'^{2}}}}}=C$ So we have ${\frac {1+y'{^{2}}}{\sqrt {2gy(1+y'{^{2}})}}}-{\frac {y'{^{2}}}{{\sqrt {2gy}}{\sqrt {1+y'^{2}}}}}={\frac {1}{\sqrt {2gy(1+y'{^{2}})}}}=C$ and multiplying this with the denominator and rearring, we have $y\left(1+y'^{2}\right)={\frac {1}{2gC^{2}}}=k^{2}$ by redefining the constant. The standard solution to this equation is given by

${\begin{aligned}x&={\frac {1}{2}}k^{2}(\theta -\sin \theta )\\y&={\frac {1}{2}}k^{2}(1-\cos \theta )\end{aligned}}$

and is the equation of a cycloid.

The same

energy : 1/2*m*v^2 = m*g*y;
v_sol : solve( energy, v);
v_sol : v_sol[2];
EL_f : rhs( sqrt(1+'diff(y,t)^2)/v_sol );
doof_dooyp : diff( EL_f, 'diff(y,t));
EL: EL_f - 'diff(y,t)*doof_dooyp = C;
radcan(%);
EL_dy : solve(EL, y);
ode2(EL_dy[1]^2,y,t);

but the ode2 solver cannot handle the nonlinear differential equation.

Rolling Ball: Angular momentum but no radius

The rotational energy is $E_{\text{rot}}={\frac {1}{2}}I\omega ^{2}$ and by applying non-slipping condition $v=\omega r$ we get $E_{\text{rot}}={\frac {v^{2}}{2r^{2}}}I$. The calculation is similar, and using Maxima, we get

energy : 1/2*m*v^2 + 1/2*I*v^2/r^2= m*g*y;
. . .

gives

${\begin{aligned}{\frac {\sqrt {m\,{{r}^{2}}+I}}{{\sqrt {2gmy}}r\,{\sqrt {{{\left({\frac {d}{dt}}y\right)}^{2}}+1}}}}=C&&\Rightarrow &&y(1+y'{^{2}})={\frac {mr^{2}+I}{2gmr^{2}C^{2}}}=k_{1}^{2}\end{aligned}}$

and thus only the constant Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle k_1} differs from the case with no angular momentum.

Friction

The forces on the path. Actually the sliding particle is infinitemal small.

The normal force follows the path, and thus is given by Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \vec T = \frac{dx}{ds}\vec x + \frac{dy}{ds} \vec y } , but The friction depends on the normal force of the path. The normal force is perpendicular to the previous, thus we have

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \vec N = - \frac{dy}{ds}\vec x + \frac{dx}{ds} \vec y }

The conservation of energy does not apply here, but we have Newton's Second Law, Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \vec F = m \frac{d \vec v}{dt}} . We need the components along the curve Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle s} . Thus we have

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{align} \vec F &= \vec G - \vec F_\mu \\ &= mg \frac{dy}{ds} - \mu mg \frac{dx}{ds} \end{align} }

Clearly, for the left hand side of NII we have Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle m\frac{dv}{dt} = m \frac{dv}{ds}\frac{ds}{dt} = mv\frac{dv}{ds} = m\frac12 \frac {d v^2}{ds} } , and by including the differential part only, we have

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{align} \frac12 v^2 &= g( y - \mu x ) \\ v&= \sqrt{2g(y-\mu x)} \end{align} }

and Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle f} for the Euler--Lagrange equation is Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle f = \sqrt{ \frac{1+y'^{2}}{2g(y-\mu x)} } }

Euler--Lagrange

NII : 1/2*v^2 = g*(y(x)-mu*x);

v_sol : solve( NII, v);
v_sol : v_sol[2];

EL_f : rhs( sqrt(1+'diff(y(x),x)^2)/v_sol );
df_dy : diff(EL_f, y(x));
df_dyp : diff(EL_f, 'diff(y(x),x));
d_dx : diff( df_dyp, x);


EL : df_dy - d_dx = 0; 
Elrad : radcan( EL );

num( lhs(ELrad) )/sqrt(2)/sqrt(y(x)-mu*x)=0;
ratsimp(%);

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \begin{align} \left( 2 \mu x-2 \operatorname{y}(x)\right) \, \left( \frac{{{d}^{2}}}{d {{x}^{2}}} \operatorname{y}(x)\right) -\mu {{\left( \frac{d}{d x} \operatorname{y}(x)\right) }^{3}}-{{\left( \frac{d}{d x} \operatorname{y}(x)\right) }^{2}}-\mu \left( \frac{d}{d x} \operatorname{y}(x)\right) -1=0 \\ 2 \left( y(x) - \mu x \right) \frac{d^2 y}{d x^2} + \left( 1+ \left( \frac{d y}{dx}\right)^2 \right) \left( 1 + \mu \frac{d y}{dx} \right) =0 \end{align} }

This can be reduced to

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \left( \operatorname{y}(x)-\mu x\right) \, \left( {{\left( \frac{d}{d x} \operatorname{y}(x)\right) }^{2}}+1\right) = C\, {{\left( \mu \left( \frac{d}{d x} \operatorname{y}(x)\right) +1\right) }^{2}} }

References

https://mathworld.wolfram.com/BrachistochroneProblem.html

https://physicscourses.colorado.edu/phys3210/phys3210_sp20/lecture/lec04-lagrangian-mechanics/

http://hades.mech.northwestern.edu/images/e/e6/Legeza-MechofSolids2010.pdf

https://www.tau.ac.il/~flaxer/edu/course/computerappl/exercise/Brachistochrone%20Curve.pdf

https://mate.uprh.edu/~urmaa/reports/brach.pdf

https://medium.com/cantors-paradise/the-famous-problem-of-the-brachistochrone-8b955d24bdf7

https://wiki.math.ntnu.no/_media/tma4180/2015v/calcvar.pdf

http://www.doiserbia.nb.rs/img/doi/0354-5180/2012/0354-51801204697M.pdf

http://info.ifpan.edu.pl/firststep/aw-works/fsV/parnovsky/parnovsky.pdf