Goldstein, Classical Mechanics Second Edition

Problem 2-4: Find the Euler-Lagrange equation describing the

brachistochrone curve for a particle moving inside a spherical
Earth of uniform mass density. Obtain a first integral for this
differential equation by analogy to the Jacobi integral h. With
the help of this integral show that the desired curve is a
hypocycloid. Obtain an expression for the time of travel along
the brachistochrone between two points on the surface of the
Earth. How long would it take to go from New York to Los
Angeles (assumed to be 3000 miles apart) along a
brachistochrone tunnel (assuming no friction) and how far
below the surface would the deepest point of the tunnel be?

This problem is vaguely reminiscent of a standard introductory

physics problem (e.g., Halliday & Resnick, p. 351) involving a a
straight line path through the Earth connecting two points on the
surface. This problem with an undetermined path is more general and
correspondingly more difficult.

Let R and M represent the radius and mass of the Earth, respectively.

Let r and m represent the radial distance of the traveling object from
the center of the Earth and the mass of the traveling object,
respectively.

From introductory physics we know that for r > R, U = –GMm/r

For 0 < r < R, F = –GMm/r2 (r3/R3); that is, the force behaves as if all
the mass of the Earth is concentrated at r = 0

U = – ∫ F ⋅ dr = (GMm/2R3)r2 – C'

Need to ensure continuity at r=R; therefore (GMm/2R3)r2 – C' = –

GMm/R, which tells us that C = 3GMm/2R

U = (GMm/2R3)r2 – 3GMm/2R

v = 0 ⇔r = R

E = U(R) = –GMm/R

-GMm/R = ½mv2 + (GMm/2R3)r2 – 3GMm/2R

GMm/R = mv2 + (GMm/R3)r2

Note that as we would expect in this type of problem, the particle

mass m drops out and is irrelevant to our solution.
v2 = (GM/R)(R2/R2 – r2/R2)

v = [(GM/R2)(R2 – r2)/R]½ = [(g/R)(R2 – r2)]½ = ds/dt

Integating, dt' = √(R/g) ∫ ds'/ (R2 – r'2)½

Redefining dt' = √(R/g) dt and ds' = Rds and r'=Rr

t = ∫ ds / (1 – r2)½

ds = [(x')2 + (y')2]½ dt (Goldstein, p. 40)

r2 = x2 + y2

t = ∫ [(x')2 + (y')2]½ / (1 – x2 – y2)½ dt

f = [(x')2 + (y')2]½ / (1 – x2 – y2)½

There is no dependence on t.

f – x' ∂f/∂x' = c

f – y' ∂f/∂y' = c

[(x')2 + (y')2]½ / (1 – x2 – y2)½ – x' {x' / [(x')2 + (y')2]½} {1 / (1 – x2 –

y2)½} = C1

[(x')2 + (y')2]½ / (1 – x2 – y2)½ – y' {y' / [(x')2 + (y')2]½} {1 / (1 – x2 –

y2)½} = C2

[(x')2 + (y')2 – (x')2] / {(1 – x2 – y2)½[(x')2 + (y')2]½} = y'2 / {(1 – x2 –

y2)½[(x')2 + (y')2]½} = C1

Similarly, x'2 / {(1 – x2 – y2)½[(x')2 + (y')2]½} = C2

Adding these two results together, we get

[(x')2 + (y')2] / {(1 – x2 – y2)½[(x')2 + (y')2]½} = C1 + C2

[(x')2 + (y')2]½ / (1 – x2 – y2)½ = C

[(x')2 + (y')2] = C2(1 – x2 – y2)

The solution to this equation can be found in any introductory

calculus text (e.g., Anton)

x(t) = (1-b) cos t + b cos [(1-b)/b t]

y(t) = (1-b) sin t – b sin [(1-b)/b t]

These are the parametric equations for a hypocycloid.

x2 = (1-b)2cos2t + b2cos2[(1-b)/b t] + 2b(1-b) cos t cos [(1-b)/b t]

y2 = (1-b)2 sin2t + b2 sin2[(1-b)/b t] – 2b(1-b) sin t sin [(1-b)/b t]

x2 + y2 = (1-b)2 + b2 + 2b(1-b) cos (t/b) = 1 – 2b + b2 + b2 + 2b(1-b)

cos (t/b)

x2 + y2 = 1 – 2b(1-b)(1 – cos t/b)

1 – x2 – y2 = 2b(1-b)(1 – cos t/b)

x' = –(1-b) sin t + (1-b) sin [(1-b)/b t]

(x')2 = (1-b)2 sin2 t – 2(1-b)2 sin t sin [(1-b)/b t] + (1-b)2 sin2 [(1-b)/b t]

y' = (1-b) cos t + (1-b) cos [(1-b)/b t]

(y')2 = (1-b)2 cos2 t – 2(1-b)2 cos t cos [(1-b)/b t] + (1-b)2 cos2 [(1-b)/b t]

(x')2 + (y')2 = (1-b)2 – 2(1-b)2 cos (t/b – 2t) + (1-b)2 = 2(1-b)2(1 – cos
t/b)

C2 = [(x')2 + (y')2] / (1 – x2 – y2) = 2(1-b)2(1 – cos t/b) / 2b(1-b)(1 – cos

t/b) = (1-b)/b

The starting and ending points are at r=0 and r=1 in our new units

1 = r2 = x2 + y2 = 1 – 2b(1-b)(1 – cos t/b) ⇒ 1 – cos t/b = 0 ⇒ t = 2π b

Transit time = ∫ C dt = [(1-b)/b]½ t = 2π [b(1-b)]½

Based on the geometric properties of the hypocycloid θ = d/R

θ = 2π b in general

Therefore b = d/2π R

Transit time = 2π [(d/2π R)(1 – d/2π R)]½

Reintroducing the factor of (R/g)½

Transit time = 2π (R/g)½[(d/2π R)(1 – d/2π R)]½

And finally plugging in all the numbers including R ≈ 4000 km

Transit time = 2π (4000000/9.8)½[(3000/8000π )(1 – 3000/8000π )]½

Transit time ≈ 1300 s ≈ 22 min

Based on the geometry the diameter = 2bR = d/π is the maximum

depth, which is approximately equal to 955 km