Extended Lagrangian formalism and the corresponding energy relations

In this paper an extended Lagrangian formalism for the rheonomic systems with the nonstationary constraints is formulated, with the aim to examine more completely the energy relations for such systems in any generalized coordinates, which in this case always refer to some moving frame of reference. Introducing new quantities, which change according to the law τ_a=φ_a(t), it is demonstrated that these quantities determine the position of this moving reference frame with respect to an immobile one. In the transition to the generalized coordinates qⁱ they are taken as the additional generalized coordinates q^a=τ_a, whose dependence on time is given a priori. In this way the position of the considered mechanical system relative to this immobile frame of reference is determined completely.Based on this and using the corresponding d'Alembert–Lagrange's principle, an extended system of the Lagrangian equations is obtained. It is demonstrated that they give the same equations of motion qⁱ=qⁱ(t) as in the usual Lagrangian formulation, but substantially different energy relations. Namely, in this formulation two different types of the energy change law dE/dt and the corresponding conservation laws are obtained, which are more general than in the usual formulation. So, under certain conditions the energy conservation law has the form E=T+U+P=const, where the last term, so-called rheonomic potential expresses the influence of the nonstationary constraints.Afterwards, a detailed analysis of the obtained results and their connection with the usual formulation of mechanics are given. It is demonstrated that so formulated energy relations are in full accordance with the corresponding ones in the usual vector formulation, when they are expressed in terms of the rheonomic potential. Finally, the obtained results are illustrated by several simple, but characteristic examples.