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Cananical . . .
Hamiltons equations
Poisson bracket
H-J Eqn
Dr. M Ramegowda
Dept. of Physics
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JJ
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1.
The Hamilton . . .
Cananical . . .
Poisson bracket
velocities qi gives equations of motion, which are second order in time. InH-J Eqn
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describe the behaviour of the system ina phase space whose coodinates are the
2N independent variables. These are called canonical coordinates and canonical momenta. This new formulation is by the Hamiltonian and is known as
Hamiltonian formulation.
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= 0
dt qi qi
where
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(1)
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1X
t) = T V =
L(q, q,
miqi2 V
2 i
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L
= miqi = pi
qi
pi are called generalized or conjugate momenta. Equation 2 in 1 gives,
dpi L
= 0
dt
qi
L
pi =
qi
The differential of the Lagrangian can be written as
X L
X L
L
dqi +
dL =
dqi + dt
qi
qi
t
i
i
The Hamilton . . .
(2)
Cananical . . .
Poisson bracket
H-J Eqn
(3)
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(4)
Equations 2 and 3 in 4,
dL =
pi dqi +
X
i
pi dqi +
L
dt
t
(5)
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If we define the Hamiltonian H(q, p, t) as a function of generalized coordinates qi and generalized momenta pi, the Legendre transformation generate the
Hamiltonian
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H(q, p, t) =
X
i
qipi L(q, q,
t)
(6)
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The Hamilton . . .
Cananical . . .
(7)
Poisson bracket
Equation 5 in 7,
X
X H
X
X H
L
H
pi dqi dt
qi dpi
dqi +
dpi +
dt =
qi
pi
t
t
i
i
i
i
H
pi
H
pi =
qi
L
H
=
t
t
qi =
H-J Eqn
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(8)
(9)
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(10)
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constitute the desired set of 2N first order equations of motion replacing the
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The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
1 X 2
qi V (qi)
T V =L = m
2
i
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L
= mqi
qi
pi = mqi
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Page 5 of 52
H = T +V
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1.1.
The Hamilton . . .
1
2
2 m(x
+ y 2 + z 2).
Cananical . . .
Poisson bracket
H-J Eqn
1
m(x 2 + y 2 + z 2) + V (x, y, z)
2
1 2
(px + p2y + p2z ) + V (x, y, z)
H =
2m
T +V =H =
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(12)
2. Using cylindrical polar coordinates: (r, , z) are the cylindrical coordinates at time t of a free material point of mass m in the potential field
V (r).
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1
2 + z 2
m r 2 + (r)
2
1
1
2 + (mz)
=
(mr)
2 + 2 (mr2)
2
2m
r
T =
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2
1
p
T =
p2r + 2 + p2z
2m
r
The Hamilton . . .
Cananical . . .
Then
2
1
p
H =
p2r + 2 + p2z + V (r)
2m
r
Poisson bracket
H-J Eqn
3. Using spherical polar coordinates: (r, , ) are the spherical polar coorHome Page
V (r).
The kinetic energy T is
2
2
1
T = m r 2 + r + rsin
2
2
2
1
1
1
2 + 2 r2 + 2 2 r2sin2
=
(mr)
2m
r
r sin
"
#
2
2
p
1
p
T =
p2r + 2 + 2 2
2m
r
r sin
Then
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"
p2
1
p2
2
H =
p + +
+ V (r)
2m r r2 r2sin2
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1.2.
Cananical . . .
Poisson bracket
e2
v(r) =
r
H-J Eqn
1
p2r +
H =
2m
1.3.
p2
r2
The Hamilton . . .
p2
e2
+ 2 2
r sin
r
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The Hamilton . . .
L
pi =
= mqi
q
pi
qi =
m
Cananical . . .
Poisson bracket
H-J Eqn
Then
X p2
X
1
i
i
2
qi 2
+ m
piqi L =
H =
m
2m 2
i
i
i
i
X p2
X
1
i
H =
+ m 2
qi 2
2m 2
i
i
X
1.4.
X p2
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~ qi is the velocity dependent potential.
where e A.
The Hamilton . . .
Cananical . . .
L
~
= pi = mqi + eA
qi
1
~
qi =
(pi eA)
m
Poisson bracket
H-J Eqn
The Hamiltonian H is
X
H =
piqi L
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= m
~
qi2 + eA.
1
qi m
2
1 X 2
qi + e
= m
2
i
!
X
i
~
qi2 + e A.
qi
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i
Page 10 of 52
!2
1 X
~ + e
=
p i eA
2m
i
1
~ 2 + e
H =
(~p eA)
2m
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1.5.
Cyclic coordinates
The Hamilton . . .
Consider a system of N degrees of freedom described by qi generalized coordinates. The Lagranges equations for the system are
d L
L
= 0
dt qi
qi
If Lagrangian of the system does not contain a given coordinate qi even though
it may contain corresponding velocity qi, then the coordinate qi is said to be
Cananical . . .
Poisson bracket
H-J Eqn
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Therefore,
d
dt
L
= 0
qi
dpi
= 0
dt
pi = constant
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The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
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1.6.
The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
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t2
L(q, q,
t)dt = constant
(13)
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t1
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The variation of the action integral for fixed time t1 and t2 must be zero.
Z t2
I =
L(q, q,
t) dt = 0
(14)
t1
Byusing equation 6,
Z t2
Z
t) dt =
L(q, q,
t1
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t2
t1
!
X
i
qipi H
dt = 0
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t2
=
t1
qipi +
pi qi H
The Hamilton . . .
dt = 0 (15)
Cananical . . .
Since,
Poisson bracket
H(q, p) =
X H
i
qi
qi +
X H
i
pi
pi
(16)
H-J Eqn
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The Hamilton . . .
=
=
H
qi =
pi
H
pi =
qi
Cananical . . .
Poisson bracket
H-J Eqn
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2.
Canonical Transformations
The Hamilton . . .
Cananical . . .
The transformations from one set of coordinates qi to a new set Qi, by transformation equations of the form
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Qi = Qi(q, t)
(17)
are called point transformations. It can be shown that under a point transformation, a system that obeys the Euler-Lagrange equations in the original
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tion of the independent coordinates and momenta, (qi, pi), to a new set Qi, Pi,
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Qi = Qi(q, p, t)
(18)
Pi = Pi(q, p, t)
(19)
The Hamilton . . .
Cananical . . .
tact transformation may not preserve Hamiltons equations. The transformations which preserve Hamiltons equations are known as canonical transfor-
H-J Eqn
mations.
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H
Q i =
Pi
H
P i =
Qi
(20)
The Hamilton principle in both old coordinates (qi, pi) and canonical coordinates (Qi, Pi) are written as
!
Z t2 X
qipi H(q, p, t) dt = 0
t1
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(21)
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t2
t1
!
X
Q iPi H(Q, P, t)
The Hamilton . . .
dt = 0
(22)
Cananical . . .
The simultaneous validity of equations 21 and 22 does not mean that the in-
Poisson bracket
tegrands in both expressions are equal. Since the general form of the modified
H-J Eqn
Hamiltons principle has zero variation at the end points, the equations 21 and
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(23)
Here F is any function of the phase space coordinates with continuous second
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The term F/t in equation 23 contributes to the variation of the action integral
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only at the end points and will therefore vanish if F is a function of (q, p, t)
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specifying the exact form of the canonical transformation only when half of the
variables are from the old set and half are from the new set.
The Hamilton . . .
Cananical . . .
F1 F1
F1
qipi H(q, p, t) = Q iPi H(Q, P, t) +
+
qi +
Qi
t
q
Q
i
i
F1
F1
F1
i
+
pi qi +
+ Pi Q(24)
H(Q, P, t) = H(q, p, t) +
t
qi
Qi
Poisson bracket
H-J Eqn
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Since the old and the new coordinates, qi, and Qi, are separately independent,
equation 24 can hold identically only if the coefficients of qi, and Q i each vanish.
Thus
F1
qi
F1
Pi =
Qi
pi =
(25)
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(26)
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F1
H(Q, P, t) = H(q, p, t) +
t
(27)
The function F (q, Q, t) is the generating function of the cananical transformation and it specifies the required equations of the transformation.
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The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
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F2
qi
F2
Qi =
Pi
Equations 29 and 30 in equation 28,
pi =
F2
H(Q, P, t) = H(q, p, t) +
t
(29)
(30)
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equally well write F as a function of (qi, Pi), (pi, Pi) or (pi, Qi). These different
The Hamilton . . .
generating functions are simply different ways to generate the same canonical
Cananical . . .
transformation (qi, pi) (Qi, Pi). The four basic cananical transfornmations
Poisson bracket
H-J Eqn
Generating function
F = F1 (q, Q, t)
pi =
F1
qi
F1
Pi = Q
i
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F = F2 (q, P, t) Qi Pi
pi =
F2
qi
Qi =
F2
Pi
F = F3 (p, Q, t) + qi pi
3
qi = F
pi
3
Qi = F
Pi
F = F4 (p, P, t) + qi pi Qi Pi
4
pi = F
pi
Qi =
F4
Pi
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qi = qi(Q, P )
pi = pi(Q, P )
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Pi = Pi(q, p)
The Hamilton . . .
Qi = Qi(q, p)
Cananical . . .
Poisson bracket
dQi
Qi qj Qi pj
=
+
dt
qj t
pj t
H
Qi
Qi
= Q i =
qj +
pj
Pi
qj
pj
H-J Eqn
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Since,
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H = H(Q, P )
H
H pj H qj
=
+
Pi
pj Pi qj Pi
pj
qj
= qj
pj
Pi
Pi
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Page 22 of 52
Therefore,
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qj
qj
pj
Qi
Qi
pj
=
qj +
pj
Pi
Pi
qj
pj
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2.2.
2.2.1.
The Hamilton . . .
Cananical . . .
Poisson bracket
If F2 = qiPi
H-J Eqn
F2
= Pi
qi
F2
= qi
Pi
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(33)
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Hence H(q, p, t) = H(Q, P, t) and F2 generates the identity transformation.
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2.2.2.
The Hamilton . . .
Cananical . . .
If F1 = qiQi
Poisson bracket
F1
= Qi
qi
F1
= qi
Qi
H-J Eqn
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(35)
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(36)
Thus the transformation interchanges the momenta and the coordinates.
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2.2.3.
The Hamilton . . .
Cananical . . .
Poisson bracket
(37)
This form of the Hamiltonian, as the sum of two squares, suggests a transfor-
H-J Eqn
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(38)
(39)
Page 25 of 52
Substituting for p2i and qi2 by using equations 38 and 39 to equation 37,
!
2
X
X
1
f (P )
f (P )2 cos2 Qi + m2 2
sin2 Qi
H(Qi, Pi) =
2
2
2m
m
i
i
f (P )2
H(Qi, Pi) =
2m
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The Hamilton . . .
(41)
Poisson bracket
H-J Eqn
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(42)
(43)
X
i
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(44)
Cananical . . .
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Pi =
Pi
i Ei
Pi =
Ei
(45)
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i
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The Hamilton . . .
cananical coordinates is
Cananical . . .
H
Q i =
=
Pi
Qi = t +
(46)
H-J Eqn
(47)
Poisson bracket
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(48)
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(49)
Page 27 of 52
From equation 42 and 43, it can see that we have transformed from simple
position qi and momentum pi to phase Qi and energy Pi of the oscillatory
motion. Equation 48 shows that the energy depends only on the oscillator
amplitude. This kind of transformation is going to have obvious use when
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3.
Poisson brackets
The Hamilton . . .
Cananical . . .
Poisson brackets are a powerful and sophisticated tool in the Hamiltonian forPoisson bracket
malism of Classical Mechanics. They also happen to provide a direct link beH-J Eqn
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space coordinates. These are the N generalized coordinates q1, q2, q3, ...., qN
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and N conjugate momenta p1, p2, p3, ..., pN . The Hamiltonian of the system
depends on these 2N variables and possibly on time t as well, and it can be
expressed as
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H(q1, q2, q3, ...., qN , p1, p2, p3, ..., pN , t)H(qi, pi, t)
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space and time, call them F (qi, pi, t) and G(qi, pi, t) and produces a new
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q
p
pi qi
i
i
i
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q p
p q
The Hamilton . . .
Cananical . . .
(51)
Poisson bracket
H-J Eqn
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(52)
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H
pi =
qi
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equation 52 becomes,
dF
=
dt
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N
X
i
F H F H
qi pi pi qi
dF
F
= [F, H] +
dt
t
+
F
t
(53)
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(54)
The Hamilton . . .
Poisson bracket.
Cananical . . .
Poisson bracket
3.1.
1. Consider
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(55)
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[qj , qk ] = 0 = [pj , pk ]
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[qj , pk ] = jk = [pj , qk ]
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The Hamilton . . .
Cananical . . .
q
p
pi qi
i
i
i
F G F G
F G F G
=
+ ...............
q1 p1 p1 q1
q2 p2 p2 q2
F G
F G
+
qn pn pn qn
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F
q1
F
F
q2 ....... qn
F
p1
F
F
p2 ...... pn
0 0....... 1
0 0........ 0
i .
1 0....... 0
0 1........ 0
G
q1
G
q2
.
.
G
qn
G
p1
G
p2
.
.
G
pn
The Hamilton . . .
Cananical . . .
^
F
G
[F, G] =
J
Poisson bracket
H-J Eqn
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0 0
h
i 0 0
F
F
F
F
[F, G](q,p) = q q p p
1
2
1
2
1 0
0 1
The Hamilton . . .
1 0
0 1
0 0
0 0
G
q1
G
q2
G
p1
G
p2
Cananical . . .
Poisson bracket
H-J Eqn
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are the old coordinates (qi, pi) and = () are the transformed coordinates (Qi, Pi), then
F
F j
=
i
j i
F 1 F 2
F n
=
+
+ ...... +
1 i 2 i
n i
F
1
F
2
1
i
2
n
......
i
i
F
n
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g
F
=
Similarly,
The Hamilton . . .
Cananical . . .
Poisson bracket
g
G
=
H-J Eqn
Therefore,
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g
g
^
F
G
[F, G] =
J
^ g
F
G
=
J
J
= J
Therefore,
G
[F, G] =
J
= [F, G]
[F, G](q,p) = [F, G](Q,P )
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3.2.
The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
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F
=0
t
Then from equation 54,
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[F, H] = 0
Page 35 of 52
Thus F is a constant of the motion if and only if [F, H] = 0 for all points in
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phase space.
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(56)
The Hamilton . . .
H
=0
t
Cananical . . .
Poisson bracket
Then
dH
= 0,
H(qi, pi) = constant
(57)
dt
That is energy is conserved in cases where the Hamiltonian is timeindependent.
H-J Eqn
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coordinate. Then
Page 36 of 52
[pi, H] =
pi H pi H
H
=
qi pi pi qi
qi
pi
=0
qi
(58)
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coordinate.
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subject to a central force potential V (r) = V (x, y, z). The kinetic energy
The Hamilton . . .
of the system is
Cananical . . .
1 2
(px + p2y + p2z )
2m
T
T
px
py
,
=
= ,
px
m
py m
Poisson bracket
T =
T
pz
=
pz m
H-J Eqn
(59)
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V
V
V
x
y
z
0
=p
V 0(r),
=p
V 0(r),
=p
J V (r)
I
x
y
z
x2 + y 2 + z 2
x2 + y 2 + z 2
x2 + y 2 + z 2
(60)
Page 37 of 52
where V 0(r) is the potential function. The Hamiltonian of the system is
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H =
1 2
(px + p2y + p2z ) + V (x, y, z)
2m
(61)
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The Hamilton . . .
Cananical . . .
Lz = xpy ypx
Poisson bracket
Ly = zpx xpz
H-J Eqn
Lx = ypz zpx
Consider
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[Lz , H] = [Lz , T + V ]
[Lz , H] = [Lz , T ] + [Lz , V ]
Lz T
Lz T
qi pi
pi qi
Lz T Lz T
Lz T
Lz T
=
x px px x
y py py y
Lz T
Lz T
T
=
+
=0
x px
y py
qi
T
=
(xpy ypx)
+ (xpy ypx)
x
px y
py
[Lz , T ] =
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(62)
The Hamilton . . .
px
py
[Lz , T ] = py px = 0
m
m
[Lz , V ] =
=
=
=
[Lz , V ] =
(63)
Poisson bracket
Lz V
Lz V
qi pi
pi qi
Lz V
Lz V
Lz V
Lz V
x px px x
y py py y
Lz V
Lz V
V
=0
px x
py y
pi
(xpy ypx)
(xpy ypx)
px
x py
y
V
V
y
x
x
y
Cananical . . .
H-J Eqn
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x
x2 + y 2 + z 2
V 0(r) x p
y
x2 + y 2 + z 2
V 0(r) = 0 (64)
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The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
3.3.
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~ = ~r p~
L
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II
Ly = zpx xpz
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Lx = ypz zpx
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bracket is
dF
= [F, Lz ]
d
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(65)
The Hamilton . . .
dF~
= k F~
d
Cananical . . .
(66)
Poisson bracket
H-J Eqn
[F, Lz ] = k F~
(67)
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[F, Lz ]z = [z, Lz ] = 0
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[qi, Lj ] = ijk qk
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where ijk = 0 for i = j or j = k, ijk = 1 for ijk are distinct and in cyclic
order and ijk = 1 for ijk are distinct and not in cyclic order.
If F~ = P~ = (ipx + jpy + kpz ), then
[F, Lz ]x = [px, Lz ] = k (ipx)
The Hamilton . . .
Cananical . . .
Poisson bracket
H-J Eqn
[px, Lz ] = py
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Similarly,
[F, Lz ]y = [py , Lz ] = px
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[F, Lz ]z = [pz , Lz ] = 0
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[F, Lz ]y = [Ly , Lz ] = Lx
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[F, Lz ]z = [Lz , Lz ] = 0
The Hamilton . . .
(69)
Cananical . . .
Poisson bracket
Again consider
H-J Eqn
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([ypz , xpz ] = 0,
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[zpx, zp
] =I 0)
J x
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[Ly , Lx] = Lz
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Similarly,
[Ly , Lz ] = Lx,
[Lz , Ly ] = Lx
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[Lz , Lx] = Ly ,
[Lx, Lz ] = Ly
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[Li, Lj ] = ijk Lk
The Hamilton . . .
Cananical . . .
where ijk = 0 for i = j or j = k, ijk = 1 for ijk are distinct and in cyclic
order and ijk = 1 for ijk are distinct and not in cyclic order.
Poisson bracket
H-J Eqn
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4.
Hamilton-Jacobi equation
The Hamilton . . .
Cananical . . .
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(q, p) to some new set (Q, P ) such that all the Q and P are constant in time,
then
H
H
Q i =
=0
P i =
=0
Pi
Qi
One way to guarantee the above conditions is to require that
(70)
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H(Q, P ) = 0
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The Hamilton . . .
Cananical . . .
pi =
S
qi
(72)
Poisson bracket
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(73)
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The Hamilton . . .
Cananical . . .
Since the P and Q are constants, it is conventional to refer to them with the
Poisson bracket
symbols i = Pi and i = Qi. The full solution q(t), p(t) to the problem is
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found by making use of the generating function S and the initial conditions
q(0) and p(0). Then the function S is
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where quantities 1, 2, 3, ......N +1 are N + 1 independent constants of integration. The generating function partial derivative relations are
S
pi =
qi
S
i =
= Qi
i
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The Hamilton . . .
Cananical . . .
(76)
Poisson bracket
(77)
This is an interesting result - that the action integral is the generator of the
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When the Hamiltonian does not depend explicitly upon the time, Hamiltons
principle function S can be written in the form
S(q, , t) = W (q, ) t
S
W
S
=
,
= = E
qi
qi
t
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(79)
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where = E is the time independent value of H and W (q, ) is called HamilFull Screen
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The Hamilton . . .
(81)
Cananical . . .
Poisson bracket
(82)
H-J Eqn
4.1.
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p
W
=
2m m2 2q 2
q
Z r
m 2q 2
W = 2m
1
dq
2
The Hamilton . . .
(85)
Cananical . . .
(86)
Poisson bracket
H-J Eqn
Since S = W t, then
S =
S
=
+t =
q =
q =
Z r
m 2q 2
2m
1
dq t
2
r Z
m
dq
q
t
2
m 2 q 2
1 2
q
Z
m 2
1
2
q
dq t
m 2 q 2
1 2
r
1
m 2
arc sin
q
2
r
2
sin(t + )
2
m
r
2
sin(t + )
m 2
(87)
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The Hamilton . . .
W
=
q
p =
p =
m 2q 2
2m 1
2
Cananical . . .
Poisson bracket
2m[1 sin2(t + )]
2m cos(t + )
H-J Eqn
(89)
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po = 2m cos
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(90)
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(92)
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The Hamilton . . .
tion to a new coordinate that measures the phase angle of the oscillation and
Cananical . . .
Poisson bracket
m 2q 2
S = 2m
1
dq t
2
On substituting for q and dq by using equation 88,
Z
S = 2 cos2(t + )dt t
Z
2
2 cos (t + ) 1 dt
=
Z
S =
cos2(t + ) sin2(t + ) dt
(94)
from equations 88 and 89, we can get
Z 2
2
p
m q
S =
dt
2m
2
Z
S =
L dt
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