Hamiltonian Mechanics for Functionals Involving Second-Order Derivatives

Abstract

Hamilton’s principle was developed for the modeling of dynamic systems in which time is the principal independent variable and the resulting equations of motion are second-order differential equations. This principle uses kinetic energy which is functionally dependent on first-order time derivatives, and potential energy, and has been extended to include virtual work. In this paper, a variant of Hamiltonian mechanics for systems whose motion is governed by fourth-order differential equations is developed and is illustrated by an example invoking the flexural analysis of beams. The variational formulations previously associated with Newton’s second-order equations of motion have been generalized to encompass problems governed by energy functionals involving second-order derivatives. The canonical equations associated with functionals with second order derivatives emerge as four first-order equations in each variable. The transformations of these equations to a new system wherein the generalized variables and momenta appear as constants, can be obtained through several different forms of generating functions. The generating functions are obtained as solutions of the Hamilton-Jacobi equation. This theory is illustrated by application to an example from beam theory the solution recovered using a technique for solving nonseparable forms of the Hamilton-Jacobi equation. Finally whereas classical variational mechanics uses time as the primary independent variable, here the theory is extended to include static mechanics problems in which the primary independent variable is spatial.