Lord Kelvin: An account of his scientific life and work

by Andrew Gray

The discussion of the third law of motion is particularly valuable, for, as is well known, attention was therein called to the fact that in the last sentences of the Scholium which Newton appended to his remarks on the third law, the rates of working of the acting and reacting forces between the bodies are equal and opposite. Thus the whole work done in any time by the parts of a system on one another is zero, and the doctrine of conservation of energy is virtually contained in Newton's statement. The only point in which the theory was not complete so far as ordinary dynamical actions are concerned, was in regard to work done against friction, for which, when heat was left out of account, there was no visible equivalent. Newton's statement of the equality of what Thomson and Tait called "activity" and "counter-activity" is, however, perfectly absolute. In the completion of the theory of energy on the side of the conversion of heat into work, Thomson, as we have seen, took a very prominent part.

After the introduction of the dynamical laws the most interesting part of this chapter is the elaborate discussion which it contains of the Lagrangian equations of motion, of the principle of Least Action, with the large number of extremely important applications of these theories. The originality and suggestiveness of this part of the book, taken alone, would entitle it to rank with the great classics—the Mécanique Céleste, the Mécanique Analytique, and the memoirs of Jacobi and Hamilton—all of which were an outcome of the Principia, and from which, with the Principia, the authors of the Natural Philosophy drew their inspiration.

It is perhaps the case, as Professor Tait himself suggested, that no one has yet arisen who can bend to the fullest extent the bow which Hamilton fashioned; but when this Ulysses appears it will be found that his strength and skill have been nurtured by the study of the Natural Philosophy. Lagrange's equations are now, thanks to the physical reality which the expositions and examples of Thomson and Tait have given to generalised forces, coordinates, and velocities, applied to all kinds of systems which formerly seemed to be outside the range of dynamical treatment. As Maxwell put it, "The credit of breaking up the monopoly of the great masters of the spell, and making all their charms familiar in our ears as household words, belongs in great measure to Thomson and Tait. The two northern wizards were the first who, without compunction or dread, uttered in their mother tongue the true and proper names of those dynamical concepts, which the magicians of old were wont to invoke only by the aid of muttered symbols and inarticulate equations. And now the feeblest among us can repeat the words of power, and take part in dynamical discussions which a few years ago we should have left to our betters."

A very remarkable feature in this discussion is the use made of the idea of "ignoration of coordinates." The variables made use of in the Lagrangian equations must be such as to enable the positions of the parts of the system which determine the motion to be expressed for any instant of time. These parts, by their displacements, control those of the other parts, through the connections of the system. They are called the independent coordinates, and sometimes the "degrees of freedom," of the system. Into the expressions of the kinetic and potential energies, from which by a formal process the equations of motion, as many in number as there are degrees of freedom, are derived, the value of these variables and of the corresponding velocities enter in the general case. But in certain cases some of the variables are represented by the corresponding velocities only, and the variables themselves do not appear in the equations of motion. For example, when fly-wheels form part of the system, and are connected with the rest of the system only by their bearings, the angle through which the wheel has turned from any epoch of time is of no consequence, the only thing which affects the energy of the system is the angular velocity or angular momentum of the wheel. The system is said by Thomson and Tait in such a case to be under gyrostatic domination. (See "Gyrostatic Action," p. [214] below.)

Moreover, since the force which is the rate of growth of the momentum corresponding to any coordinate is numerically the rate of variation with that coordinate of the difference of the kinetic and potential energies, every force is zero for which the coordinate does not appear; and therefore the corresponding momentum is constant. But that momentum is expressed by means of the values of other coordinates which do appear and their velocities, with the velocities for the absent coordinates; and as many equations are furnished by the constant values of such momenta as there are coordinates absent. The corresponding velocities can be determined from these equations in terms of the constant momenta and the coordinates which appear and their velocities. The values so found, substituted in the expressions for the kinetic and potential energies, remove from these expressions every reference to the absent coordinates. Then from the new expression for the kinetic energy (in which a function of the constant momenta now appears, and is taken as an addition to the potential energy) the equations of motion are formed for the coordinates actually present, and these are sufficient to determine the motion. The other coordinates are thus in a certain sense ignored, and the method is called that of "ignoration of coordinates."

Theorems of action of great importance for a general theory of optics conclude this chapter; but of these it is impossible to give here any account, without a discussion of technicalities beyond the reading of ordinary students of dynamics.

In an Appendix to Part I an account is given of Continuous Calculating Machines. Ordinary calculating machines, such as the "arithmometer" of Thomas of Colmar, carry out calculations and exhibit the result as a row of figures. But the machines here described are of a different character: they exhibit their results by values of a continuously varying quantity. The first is one for predicting the height of the tides for future time, at any port for which data have been already obtained regarding tidal heights, by means of a self-registering tide-gauge. Two of these were made according to the ideas set forth in this Appendix; one is in the South Kensington Museum, the other is at the National Physical Laboratory at Bushy House, where it is used mainly for drawing on paper curves of future tidal heights, for ports in the Indian Ocean. From these curves tide-tables are compiled, and issued for the use of mariners and others.

Another machine described in this Appendix was designed for the mechanical solution of simultaneous linear equations. It is impossible to explain here the interesting arrangement of six frames, carrying as many pulleys, adjustable along slides (for the solution of equations involving six unknown quantities), which Thomson constructed, and which is now in the Natural Philosophy Department at Glasgow. The idea of arranging the first practical machine for this number of variables, was that it might be used for the calculation of the corrections on values already found for the six elements of a comet or asteroid. The machine was made, but some mechanical difficulties arose in applying it, and the experiments with it were not at the time persevered with. Very possibly, however, it may yet be brought into use.