Hamiltons principle

Hamiltonian Dynamics

W
E
I

based on FW-18

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E
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the action is stationary under small

virtual displacements about the
actual motion of the system

Equivalent to Newtons laws!

fixed initial and final

configurations

Euler-Lagrange equations

New set of coordinates (transformations are assumed nonsingular and invertible):

Variational statement of mechanics:

(for conservative forces)

action

based on FW-32

Hamiltons principle:

a different function of new coordinates and velocities

Hamiltons principle for the new set of coordinates:

the particle takes the path
that minimizes the integrated
difference of the kinetic and
potential energies

Lagranges equations remain invariant under the point transformations!

we can choose any set of generalized coordinates and
Lagranges equations will correctly describe the dynamics
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Generalization to a system with n degrees of freedom:

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if all the generalized

coordinates are
independent

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Generalized momenta and the Hamiltonian

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W
E

based on FW-20

Lets define generalized momentum (canonical momentum):

I
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for independent generalized coordinates

Lagranges equations can be written as:

for k holonomic constraints:

if the lagrangian does not depend on some

coordinate,

cyclic coordinate
the corresponding momentum is a constant of the
motion, a conserved quantity.

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related to the symmetry of

the problem - the system is
invariant under some
continuous transformation.
For each such symmetry
operation there is a
conserved quantity!
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Hamiltonian Dynamics (coordinates and momenta equivalent variables):

If the lagrangian does not depend explicitly on the time,

then the hamiltonian is a constant of the motion:

generalized momentum:

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relations are assumed

nonsingular and invertible

Hamiltonian:

time shift invariance implies that

the hamiltonian is conserved

Proof:

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Legendre transformation
from

to

Hamiltons equations:

also:

(equivalent to Lagranges
equations)
2n coupled first-order differential equations
for coordinates and momenta
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180

If there are only time-independent potentials and time-independent

constraints, then the hamiltonian represents the total energy.

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Taking time derivative:

Proof:

If the lagrangian does not depend explicitly on the time,

then the hamiltonian is a constant of the motion
in addition we saw before, that for a conservative
system with time-independent constraints:

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Modified Hamiltons principle:

How can we guarantee

independent variables
subject to independent
variations

with fixed endpoints:

We can automatically guarantee
this form if we set coefficients of
velocities to 0:

and the new Hamiltonian is:

variations of all ps and qs are independent

Hamiltons equations from Hamiltons principle:

whenever the transformations can be written

in terms of some F, then the Hamiltons
equations hold for new coordinates and
momenta with the new Hamiltonian!
F is the generator of the canonical transformation
(in practice, not easy to determine if such a function exists)

Any F generates some canonical transformation!

(the modified Hamiltons principle may be taken to be the basic

statement of mechanics, equivalent to Newtons laws)

we will use this freedom to construct a transformation so that all

Q and P are cyclic, i.e. constants of the motion!

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Canonical Transformations

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Hamilton-Jacobi theory
based on FW-34

First lets introduce another function S:

Under what conditions do the transformations to new set of

coordinates and momenta,

based on FW-35

Legendre transformation
relations are assumed
nonsingular and invertible

from

to

preserve the form of Hamiltons equations?

Such transformations should satisfy:

ns
atio
equ
ons tonian
t
l
i
Ham Hamil
s to
lead ith new
w

(canonical transformations)

the total derivative of

any function can be
added because it will not
contribute to the
modified Hamiltons
principle

S generates canonical transformation, the

Hamiltons equations hold for new coordinates
and momenta with the new Hamiltonian!

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We want to use the freedom to choose S so that

Hamiltons principal function S is the action:

Then Hamiltons eqns. imply that all the P and Q are cyclic, i.e. constants of the motion!
!s are constants

the action evaluated along

the dynamic trajectory

Such S must satisfy:

If the Hamiltonian does not explicitly depend on time, H is constant,

and we can separate off the time dependence:

Hamilton-Jacobi equation
first order partial differential equation in n+1 variables
(can imagine integrating it one variable at a time,
keeping remaining variables fixed,
introducing an integration constant each time)

General form of S:

Hamilton-Jacobi equation for

Hamiltons characteristic function W:

overall integration constant

(irrelevant)

Sometimes the solution W can be separated in a sum of independent additive

functions:

any n independent non-additive integration constants

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General form of S:

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Example (a particle in one-dimensional potential):

overall integration constant

(irrelevant)

any n independent non-additive integration constants

Hamilton-Jacobi equation:

Lets look at a particular solution:

1

Hamiltons principal function

By assumption:

Hamiltonian is independent of time so

we can look for a solution of the form:

It generates following transformation:

inv

Solution to the mechanical problem:

er
tin

Hamilton-Jacobi equation for Hamiltons characteristic function:

Any set of !s in S represents n constants of motion;

derivatives with respect to !s determine "s,
another set of n constants of motion

Solution:

2n constants, !s and "s, are determined from 2n initial conditions

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Example (a particle in one-dimensional potential) continued:

at this point the trajectory is not determined

The 2nd constant of motion:

provides relation between q and t

(constants ! and " determined from initial conditions)

For harmonic oscillator:

as expected
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Connection with quantum mechanics:

wave function

Schrdinger equation
We seek a wave-like solution:

real function

=0

Hamilton-Jacobi equation

The phase of the semiclassical wave function is the

classical action evaluated along the path of motion!
Separating off time dependance corresponds to looking for stationary states, and problem
often allow a separation of variables:
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