Hi,

This is my first post here, and I was wondering if someone could see something wrong with my answer to the following question.

Find the extremal for when and i.e. free)

My Solution (sorry, it goes for a while )

Let . Then the Euler-Lagrange equation is

which implies

which has general solution .

Now using the endpoint conditions

Transversality Condition

Recall that so

Sub in

Now so

Therefore the extremal is

Have I done this correctly?

Thank-you