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moon to be a uniform spherical body. The mutual action and reaction of gravitation between her mass and the earth's, will be equivalent to a single force in some line through her centre; and must be such as to impede the earth's rotation as long as this is performed in a shorter period than the moon's motion round the earth. It must therefore lie in some such direction as the line MQ
in the diagram, which represents, necessarily T. M
with enormous exaggeration, its deviation, Ol, from the earth's centre. Now the actual force on the moon in the line MQ, may be regarded as consisting of a force in the line MO towards the earth's centre, sensibly equal in amount to the whole force, and a
comparatively very small force in the line Q
MT perpendicular to MO. This latter is 0
very nearly tangential to the moon's path,
and is in the direction with her motion. Such a force, if suddenly commencing to act, would, in the first place, increase the moon's velocity ; but after a certain time she would have moved so much farther from the earth, in virtue of this acceleration, as to have lost, by moving against the earth's attraction, as much velocity as she had gained by the tangential accelerating force. The integral effect on the moon's motion, of the particular disturbing cause now under consideration, is most easily found by using the principle of moments of momenta (§ 233). Thus we see that as much moment of momentum is gained in any time by the motions of the centres of inertia of the moon and earth relatively to their common centre of inertia, as is lost by the earth's rotation about its axis. It is found that the distance would be increased to about 347,100 miles, and the period lengthened to 48'36 days. Were there no other body in the universe but the earth and the moon, these two bodies might go on moving thus for ever, in circular orbits round their common centre of inertia, and the earth rotating about its axis in the same period, so as always to turn the same face to the moon, and therefore to have all the liquids at its surface at rest relatively to the solid. But the existence of the sun would prevent any such state of things from being permanent. There would be solar tides-twice high water and twice low water-in the period of the earth's revolution relatively to the sun (that is to say, twice in the solar day, or, which would be the same thing, the month). This could not go on without loss of energy by fluid friction. It is not easy to trace the whole course of the disturbance in the earth's and moon's motions which this cause would produce, but its ultimate effect must be to bring the earth, moon, and sun to rotate round their common centre of inertia, like parts of one rigid body. It is probable that the moon, in ancient times liquid or viscous in its outer layer if not throughout, was thus brought to turn always the same face to the earth.
249. We have no data in the present state of science for estimating
the relative importance of tidal friction, and of the resistance of the resisting medium through which the earth and moon move; but whatever it may be, there can be but one ultimate result for such a system as that of the sun and planets, if continuing long enough under existing laws, and not disturbed by meeting with other moving masses in space. That result is the falling together of all into one mass, which, although rotating for a time, must in the end come to rest relatively to the surrounding medium.
250. The theory of energy cannot be completed until we are able to examine the physical influences which accompany loss of energy in each of the classes of resistance mentioned above ($ 247). We shall then see that in every case in which energy is lost by resistance, heat is generated; and we shall learn from Joule's investigations that the quantity of heat so generated is a perfectly definite equivalent for the energy lost. Also that in no natural action is there ever a development of energy which cannot be accounted for by the disappearance of an equal amount elsewhere by means of some known physical agency. Thus we shall conclude, that if any limited portion of the material universe could be perfectly isolated, so as to be prevented from either giving energy to, or taking energy from, matter external to it, the sum of its potential and kinetic energies would be the same at all times: in other words, that every material system subject to no other forces than actions and reactions between its parts, is a dynamically conservative system, as defined above ($ 243). But it is only when the inscrutably minute motions among small parts, possibly the ultimate molecules of matter, which constitute light, heat, and magnetism; and the intermolecular forces of chemical affinity; are taken into account, along with the palpable motions and measurable forces of which we become cognizant by direct observation, that we can recognize the universally conservative character of all natural dynamic action, and perceive the bearing of the principle of reversibility on the whole class of natural actions involving resistance, which seem to violate it. In the meantime, in our studies of abstract dynamics, it will be sufficient to introduce a special reckoning for energy lost in working against, or gained from work done by, forces not belonging palpably to the conservative class.
251. The only actions and reactions between the parts of a system, not belonging palpably to the conservative class, which we shall consider in abstract dynamics, are those of friction between solids sliding on solids, except in a few instances in which we shall consider the general character and ultimate results of effects produced by viscosity of fluids, imperfect elasticity of solids, imperfect electric conduction, or imperfect magnetic retentiveness. We shall also, in abstract dyna'mics, consider forces as applied to parts of a limited system arbitrarily from without. These we shall call, for brevity, the applied forces.
252. The law of energy may then, in abstract dynamics, be expressed as follows:
The whole work done in any time, on any limited material system,
by applied forces, is equal to the whole effect in the forms of potential and kinetic energy produced in the system, together with the work lost in friction.
253. This principle may be regarded as comprehending the whole of abstract dynamics, because, as we now proceed to show, the conditions of equilibrium and of motion, in every possible case, may be derived from it.
254. A material system, whose relative motions are unresisted by friction, is in equilibrium in any particular configuration if, and is not in equilibrium unless, the rate at which the applied forces perform work at the instant of passing through it is equal to that at which potential energy is gained, in every possible motion through that configuration. This is the celebrated principle of virtual velocities which Lagrange made the basis of his Mécanique Analytique.
255. To prove it, we have first to remark that the system cannot possibly move away from any particular configuration except by work being done upon it by the forces to which it is subject: it is therefore in equilibrium if the stated condition is fulfilled. To ascertain that nothing less than this condition can secure the equilibrium, let us first consider a system having only one degree of freedom to move. Whatever forces act on the whole system, we may always hold it in equilibrium by a single force applied to any one point of the system in its line of motion, opposite to the direction in which it tends to move, and of such magnitude that, in any infinitely small motion in either direction, it shall resist, or shall do, as much work as the other forces, whether applied or internal, altogether do or resist. Now, by the principle of superposition of forces in equilibrium, we might, without altering their effect, apply to any one point of the system such a force as we have just seen would hold the system in equilibrium, and another force equal and opposite to it. All the other forces being balanced by one of these two, they and it might again, by the principle of superposition of forces in equilibrium, be removed; and therefore the whole set of given forces would produce the same effect, whether for equilibrium or for motion, as the single force which is left acting alone. This single force, since it is in a line in which the point of its application is free to move, must move the system. Hence the given forces, to which the single force has been proved equivalent, cannot possibly be in equilibrium unless their whole work for an infinitely small motion is nothing, in which case the single equivalent force is reduced to nothing. But whatever amount of freedom to move the whole system may have, we may always, by the application of frictionless constraint, limit it to one degree of freedom only ;—and this may be freedom to execute any particular motion whatever, possible under the given conditions of the system. If, therefore, in any such infinitely small motion, there is variation of potential energy uncompensated by work of the applied forces, constraint limiting the freedom of the system to only this motion will bring us to the case in which we have just demonstrated there cannot be equilibrium. But the applica
tion of constraints limiting motion cannot possibly disturb equilibrium, and therefore the given system under the actual conditions cannot be in equilibrium in any particular configuration if the rate of doing work is greater than that at which potential energy is stored up in any possible motion through that configuration.
256. If a material system, under the influence of internal and applied forces, varying according to some definite law, is balanced by them in any position in which it may be placed, its equilibrium is said to be neutral. This is the case with any spherical body of uniform material resting on a horizontal plane. A right cylinder or cone, bounded by plane ends perpendicular to the axis, is also in neutral equilibrium on a horizontal plane. Practically, any mass of moderate dimensions is in neutral equilibrium when its centre of inertia only is fixed, since, when its longest dimension is small in comparison with the earth's radius, gravity is, as we shall see, approximately equivalent to a single force through this point.
But if, when displaced infinitely little in any direction from a particular position of equilibrium, and left to itself, it commences and continues vibrating, without ever experiencing more than infinitely small deviation in any of its parts, from the position of equilibrium, the equilibrium in this position is said to be stable. A weight suspended by a string, a uniform sphere in a hollow bowl, a loaded sphere resting on a horizontal plane with the loaded side lowest, an oblate body resting with one end of its shortest diameter on a horizontal plane, a plank, whose thickness is small compared with its length and breadth, floating on water, are all cases of stable equilibrium; if we neglect the motions of rotation about a vertical axis in the second, third, and fourth cases, and horizontal motion in general, in the fifth, for all of which the equilibrium is neutral.
If, on the other hand, the system can be displaced in any way from a position of equilibrium, so that when left to itself it will not vibrate within infinitely small limits about the position of equilibrium, but will move farther and farther away from it, the equilibrium in this position is said to be unstable. Thus a loaded sphere resting on a horizontal plane with its load as high as possible, an egg-shaped body standing on one end, a board floating edgewise in water, would present, if they could be realized in practice, cases of unstable equilibrium.
When, as in many cases, the nature of the equilibrium varies with the direction of displacement, if unstable for any possible displacement it is practically unstable on the whole. Thus a circular disc standing on its edge, though in neutral equilibrium for displacements in its plane, yet being in unstable equilibrium for those perpendicular to its plane, is practically unstable. A sphere resting in equilibrium on a saddle presents a case in which there is stable, neutral, or unstable equilibrium, according to the direction in which it may be displaced by rolling ; but practically it is unstable.
257. The theory of energy shows a very clear and simple test for discriminating these characters, or determining whether the equilibrium
is neutral, stable, or unstable, in any case. If there is just as much potential energy stored up as there is work performed by the applied and internal forces in any possible displacement, the equilibrium is neutral, but not unless. If in every possible infinitely small displacement from a position of equilibrium there is more potential energy stored up than work done, the equilibrium is thoroughly stable, and not unless. If in any or in every infinitely small displacement from a position of equilibrium there is more work done than energy stored up, the equilibrium is unstable. It follows that if the system is influenced only by internal forces, or if the applied forces follow the law of doing always the same amount of work upon the system passing from one configuration to another by all possible paths, the whole potential energy must be constant, in all positions, for neutral equilibrium; must be a minimum for positions of thoroughly stable equilibrium; must be either a maximum for all displacements, or a maximum for some displacements and a minimum for others when there is unstable equilibrium.
258. We have seen that, according to D'Alembert's principle, as explained above ($ 230), forces acting on the different points of a material system, and their reactions against the accelerations which they actually experience in any case of motion, are in equilibrium with one another. Hence in any actual case of motion, not only is the actual work done by the forces equal to the kinetic energy produced in any infinitely small time, in virtue of the actual accelerations; but so also is the work which would be done by the forces, in any infinitely small time, if the velocities of the points constituting the system were at any instant changed to any possible infinitely small velocities, and the accelerations unchanged. This statement, when put into the concise language of mathematical analysis, constitutes Lagrange's application of the principle of virtual velocities' to express the conditions of D'Alembert's equilibrium between the forces acting, and the resistances of the masses to acceleration. It comprehends, as we have seen, every possible condition of every case of motion. The equations of motion' in any particular case are, as Lagrange has shown, deduced from it with great ease.
259. When two bodies, in relative motion, come into contact, pressure begins to act between them to prevent any parts of them from jointly occupying the same space. This force commences from nothing at the first point of collision, and gradually increases per unit of area on a gradually increasing surface of contact. If, as is always the case in nature, each body possesses some degree of elasticity, and if they are not kept together after the impact by cohesion, or by some artificial appliance, the mutual pressure between them will reach a maximum, will begin to diminish, and in the end will come to nothing, by gradually diminishing in amount per unit of area on a gradually diminishing surface of contact. The whole process would occupy not greatly more or less than an hour if the bodies were of such dimensions as the earth, and such degrees of rigidity as copper, steel,