= cos , = sin

=
1
2
(
2
+
2

2
), = ()
= =
1
2
(
2
+
2

2
) ()
Hamiltons Equations are:

, =

, =

= 0,

2


For plane polar coordinates (, ),
Lagrangian is = =

2
(
2
+
2

2
)
(, )
Hamiltonian is =

, )

=1
=

2
(
2
+
2

2
) +(, )