60 2 Mon 2005 Fron the Legemgian tb te Hanilbmion Approach Coot) Give LiTQ@ PAR, we now know 2 coudnele free tag ob describing the wep A:TA > TQ Gor Gap? gue rn local coordmates by _ 2 2b Pi 358 We sy Lm seglar if A is 0 difleomerplism From TA b Some open subset XST%Q. TL this cape ve con descr ible whl our system is dong eprally, well by speciFyma posibom & velocchy + G4) € TO or pesibinn & monesbun Gypy=AGwerX. We call X the plese space of We systen. Fn prechice yeTQA, & we La cack tp be shmghy regular . Exooples = A perdle & 2 Reerenn in mar bold (a5) ood pelakil Vi Q—SIR hes Lagromrgion la.g) = 295 3'Q) - VOD Here pe py Pngig!61 Maad= Gy 9 (4) so UC is skegly fegelem shee 7,Q — Ta v > 9(v,-) is U2 ob) he He mebic is nedegererle. Exerple: A guarat relebwishe parhile wilh clege @ ma eleclronegnebic veclo pilenbiol A has Lagrongion Usa) 7 593,4'4 - cla B thas ee ee ha Lis shill skmghy regular, bat sow each map * Nea’ TQ Tie 44— wg (4) + eAG) ts 2llre rather thes lmear. Exenple: The Cee geeal relelwishe poticle wil reproneleizelin- perk Layregion : Lad = Vangie Tis x levitle Can He pers ec live ot cegplathy pafe-bes rab diffretible shen gi fig) venntes, 2. Jolncdk ahembr Hes quonbily & negelne! lene it's delned, al 3) pot yi 7 Mt Ta (here Gi belie), oe can ask shat vequlartly, Ales, the rep XB wk LL where dofmed smce malbpheg § by seme mabe hag wg eflect on p! (Ta iz vnbld fp Ye ceparereterizela. mvemce — fan aluays heppess ith reperseeleritabn rat, Lagrargiens) Excorple: Here's 2 Lagrangian thet! reple bE nob shmoly vegrler. leh QR & 0G,4) > FD so WA pe ¥ - 6G) This esl be raglan bb vol shorgly so iP FOROR ss 2 diVleameephitm fron Ro by seme prope scbsel Uck. For erenple, feke Fg =et so FER? @ VCR. Ss : 4% Cateye Lay) = e* re o LU) = Jae ot eae SEREaL Nee ast) eke.Nov let's assume Lis vegler, 50 \: TQ XET*Q 4,4) Gp) Tass Lely es hove the fest of beth wells: we con weakly TQ with X using 0 This labs us beet 9’, p', &,H, ete. ail as Fonckms on X Con TA), tas ucihng ve (fn a Ta) Be He Fanebion ged” (ro) Tr pehelar bp 2 P= 38 (EnlerLagenye eq) whedh is really 2 Gm TA, will be becled 2g o fh oh X, Noo , let's catealae = = Midi, 2 yi dl > yet 3 = pdq + pidgi while aH = d(pigi -L) = aides + pidg’ de = 4p: + pidgi (py + pidq') = g'dp, = ids! 63oo 4 May 2005 Assume the Lagrmajan LiT@ Ris requlor, so A: TQ -™9 XETQ Gt Gpd is 2 diffeomorphic. This lets us regard both Lo oval the Homiltoaion H= pagel as frechions on the phose space X, and use ha) as local coordinates on X. Ag we sow last tme., this gives us AL. = Bj doi + pidg! dH = ap; oa pide’ e But we can also work ont AL| divectly, this time using local coord inahes GPa), b get = ath go y GH yi dH 3p: dp; + agi da . Since dpi, dat form a bosis of I-frns, we eonckede : tie 2H 5 - - aH Hameton's Lo Op; Pi oq EquationsThoagh gi and py are just brchons of X, wher te E-L egualions hold fr some perk q:lt.,£1— Q, Hey will be the frre derivahves of of ad pp. Souler the E-L equelions boll, Homiltn's eguaims desenbe the rmolion of a pert xlt) = (git), ploeX. Ty fact, Homilton's eguabions are jest He Baler -le FOrGR equaling ny disguise : the equation gi. aH a 3: really jast lets us recover the vebcity 4 as 4 function of QE py invertre the Frmula = ak P= og a gee p ase fa. of q 84. So we get 2 Gemuls YX TQ Gpr> (np Given this, phe other Hamilton en «i — oH Pi aq is secretly the E-L eqn lg EeeaaUeee ee geeaee ECE dt a4 ~ “eq! PE 35k These are. the some becouse ar aq (pai - Ly=Example: A porkele mm QR" ine potential Vi ROR. This bos Legyorgion LG,Q)= ZIG VG), which gies sty , oP : pany Sener = 28) and Homi ion Hyp) = pgi-L = Lapp-( 20 -v) 2m a m t Ip? +VQ). So Hemi lion's equokions sey pe-W The Gest pat recwes 4 ase Frclinn of ps he second 3h is P=mea- Homilies eqns posh us busrd the viewpent sere pea bene equal stots as coorduales on the phase space x. Soon, we'll Arop the, requiverest thet XET#Q whee Qi a ConRigueabion space. X will jst bes monifyld eqnipped wily Crongh skucwre ty wile down Hamil e's eqns starhna From, any Hi XR.ey The coordinake- Fee description of this ctructwe is He mapr 20% contary conlvibubion ty mechanics: a sympleche shrcture Hawn lion's equations From the Poneiple of Least Action Belwe, ue obtired He E-L eqns by assscislny on ‘acho Sb any gi Lh,t.1—> Q and settg 55-0. Nonw let's get Hseniltn eqns dvectly by easigamg 29 ache, Sb any path x: [ttJ—3>X ad setts $S=0. Noles me don't impose aay rebohin bebueer p 8 9,4! The relebar will rilow Pom 85-0. 6 May 005 Let P be the space of paths in the phase space X ond defre He achon SP - OR 7 So) = {I (pqi-H) at here pidi-H= Ll Move preciely write onr path x as xl) = (qld), ple) and let S60 = [Geo HIO- AGL, rl) at by a9 (we uribe Jeph mslerd of gt bh enplorrze Hub we neon He fre derwalve vatter than 3 cordnsle in ple spre Let's sh §S=O > Honillm's equals: $= 5{(pa'- Hae 7 [Graé + piS@i - $H) at yw ee = | (Spat — paSqi - SH) ae cc “J ~ Bop Mp) at “bie -80 + pe) This varistes YW $x = (Sq,$p) if ad oaly F Hamilten’s equaliess « zi 2 a _- a Opi Pi= ~ qi bold . Welve seer two prrciples of least achon + ") be paths om conligueatin spre Q, $920 => E-L ems 2 Ge paths m phase spxe X $S=0 => Havil ben’, en's Add: eally, seco XS TQ, ve might eonider a thea vesion based on paths om posi bon - veloc spe TQ. Bat when our70 Leagrargion is regio, se hove 2 difleowarphim Ai TAX, th tid prosiple of least achon is jest 2 relrevulabin of Hever, Me szaly mleresheg prreiple of eos! ackon involves paths n the extended phase space where we hve an addihmal coodmeke be tine: XxR. Recall the achien Sle) = (Goa! -H) at = { paiat - Hat “| pide - Hat We can interpre! He mleyra as e t-Focmn B= pied! - Hdt On XR, wkd has coordrole s Pigit. S oy pit x:Ut,t]-> X gree 2 pale eo: [4,4] —2X-R 4 H— > (xit)t) ard the achon becomes the beget of » ben over 2 curve: Sle) = | pide! - Hat = [2