Mechanics

Physics 151

Lecture 18
Hamiltonian Equations of Motion
(Chapter 8)
Whats Ahead
We are starting Hamiltonian formalism
Hamiltonian equation Today and 11/26
Canonical transformation 12/3, 12/5, 12/10
Close link to non-relativistic QM
May not cover Hamilton-Jacobi theory
Cute but not very relevant
What shall we do in the last 2 lectures?
Classical chaos?
Perturbation theory?
Classical field theory?
Send me e-mail if you have preference!
Hamiltonian Formalism
Newtonian Lagrangian Hamiltonian
Describe same physics and produce same results
Difference is in the viewpoints
Symmetries and invariance more apparent

Flexibility of coordinate transformation

Hamiltonian formalism linked to the development of

Hamilton-Jacobi theory
Classical perturbation theory
Quantum mechanics
Statistical mechanics
Lagrange Hamilton
Lagranges equations for n coordinates
d L L 2nd-order differential
= 0 i = 1, , n
dt qi qi equation of n variables
n equations 2n initial conditions qi (t = 0) qi (t = 0)
Can we do with 1st-order differential equations?
Yes, but youll need 2n equations
We keep qi and replace qi with something similar
L(q j , q j , t )
We take the conjugate momenta pi
qi
Configuration Space
We considered (q1 , , qn ) as a point in an n-dim. space
Called configuration space
Motion of the system qi = qi (t )
A curve in the config space
When we take variations,
we consider qi and qi as
independent variables
i.e., we have 2n independent variables in n-dim. space
Isnt it more natural to consider the motion in 2n-dim space?
Phase Space
Consider coordinates and momenta as independent
State of the system is given by (q1 , , qn , p1 , , pn )
Consider it a point in the 2n-dimensional phase space
We are switching the
qi = qi (t )
independent variables
(qi , qi , t ) (qi , pi , t ) pi = pi (t )

A bit of mathematical trick

is needed to do this
Legendre Transformation
Start from a function of two variables f ( x, y )
Total derivative is
f f
df = dx + dy udx + vdy
x y
Define g f ux and consider its total derivative
dg = df d (ux) = udx + vdy udx xdu = vdy xdu
i.e. g is a function of u and y

g g If f = L and ( x, y ) = ( q, q )
=v = x
y u L(q, q ) g ( p, q ) = L pq
This is what
we need
Hamiltonian Opposite sign from
Legendre transf.
Define Hamiltonian: H (q, p, t ) = qi pi L(q, q, t )
Total derivative is
L L L
dH = pi dqi + qi dpi dqi dqi dt
qi qi t
L
Lagranges equations say = pi
qi
L
dH = qi dpi pi dqi dt
t
This must be equivalent to Putting them
together gives
H H H
dH = dpi + dqi + dt
pi qi t
Hamiltons Equations
H H H L
We find = qi = pi and =
pi qi t t
2n equations replacing the n Lagranges equations

1st-order differential instead of 2nd-order

Symmetry between q and p is apparent
There is nothing new We just rearranged equations
First equation links momentum to velocity
This relation is given in Newtonian formalism

Second equation is equivalent to Newtons/Lagranges

equations of motion
Quick Example
Particle under Hookes law force F = kx
m 2 k 2 L
L= x x p= = mx
2 2 x
m 2 k 2
H = xp L = x + x
2 2 p
Replace x with
p2 k 2 m
= + x
2m 2
Hamiltons equations
H p H Usual harmonic
x= = p= = kx
p m x oscillator
Energy Function
Definition of Hamiltonian is identical to the energy
function h(q, q, t ) = qi L L(q, q, t )
qi
Difference is subtle: H is a function of (q, p, t)
This equals to the total energy if
Lagrangian is L = L0 (q, t ) + L1 (q, t )qi + L2 (q, t )q j qk
Constraints are time-independent
This makes T = L2 ( q, t ) q j qk

Forces are conservative See Lecture 4, or

Goldstein Section 2.7
This makes V = L0 ( q )
Hamiltonian and Total Energy
If the conditions make h to be total energy, we can
skip calculating L and go directly to H
For the particle under Hookes law force
p2 k 2
H = E = T +V = + x
2m 2
This works often, but not always
when the coordinate system is time-dependent
e.g., rotating (non-inertial) coordinate system

when the potential is velocity-dependent

e.g., particle in an EM field

Lets look at this

Particle in EM Field
For a particle in an EM field
m 2
L = xi q + qAi xi We cant jump on H = E
2 because of the last term, but

pi = mxi + qAi
mxi2
H = (mxi + qAi ) xi L = + q This is in fact E
2
Wed be done if we were calculating h
For H, we must rewrite it using pi = mxi + qAi
( pi qAi ) 2
H ( xi , pi ) = + q
2m
Particle in EM Field
( pi qAi ) 2
H ( xi , pi ) = + q
2m
Hamiltons equations are
H pi qAi H p j qAj Aj
xi = = pi = =q q
pi m xi m xi xi
Are they equivalent to the usual Lorentz force?
Check this by eliminating pi
d Aj
(mxi + qAi ) = qxi q
dt xi xi
A bit of work
d
(mvi ) = qEi + q ( v B)i
dt
Conservation of Hamiltonian
Consider time-derivative of Hamiltonian
dH (q, p, t ) H H H
= q+ p+
dt q p t
Hamiltonian is
H
= pq + qp + conserved if it does not
t depend explicitly on t
H may or may not be total energy
If it is, this means energy conservation

Even if it isnt, H is still a constant of motion

Cyclic Coordinates
A cyclic coordinate does not appear in L
By construction, it does not appear in H either
H ( q , p, t ) = qi pi L( q , q, t )
Hamiltons equation says
H Conjugate momentum of a
p= =0
q cyclic coordinate is conserved

Exactly the same as in the Lagrangian formalism

Cyclic Example
Central force problem in 2 dimensions
m 2 2 2
L = (r + r ) V (r )
2
pr = mr p = mr 2

1 2 p2
H= pr + 2 + V (r ) is cyclic p = const = l
2m r
Hamiltons equations
1 2 l2 V (r )
= pr + 2 + V (r ) r=
pr l2
pr = 3
2m r m mr r
Cyclic variable drops off by itself
Going Relativistic
Practical approach
Find a Hamiltonian that works
Does it represent the total energy?

Purist approach
Construct covariant Hamiltonian formalism
For one particle in an EM field

Dont expect miracles

Fundamental difficulties remain the same
Practical Approach
Start from the relativistic Lagrangian that works
L = mc 2 1 2 V (x)
L mvi
pi = = Did this last time
vi 1 2

H =h= p 2 c 2 + m 2 c 4 + V ( x)
It does equal to the total energy
Hamiltons equations
H pi c 2 pi H V
xi = = = pi = = = Fi
pi p 2 c 2 + m2 c 4 m xi xi
Practical Approach w/ EM Field
Consider a particle in an EM field
L = mc 2 1 2 q (x) + q ( v A)
Hamiltonian is still total energy

H = m c 2 + q Can be easily checked

= m 2 2 v 2 c 2 + m2 c 4 + q
Difference is in the momentum pi = m vi + qAi

H = (p qA) 2 c 2 + m 2 c 4 + q
Not the usual linear momentum!
Practical Approach w/ EM Field
H = (p qA) 2 c 2 + m 2 c 4 + q
Consider H q
( H q ) 2 (p qA)2 c 2 = m2 c 4 constant

It means that ( H q , pc qAc) is a 4-vector,

and so is ( H , pc) Similar to 4-momentum (E/c, p) of
a relativistic particle
Remember p here is not the linear momentum!
This particular Hamiltonian + canonical momentum
transforms as a 4-vector
True only for well-defined 4-potential such as EM field
Purist Approach
Covariant Lagrangian for a free particle = 12 mu u
p p
p = = mu H=
u 2m
We know that p0 is E/c
We also know that x0 is ct
Energy is the conjugate momentum of time
Generally true for any covariant Lagrangian
You know the corresponding relationship in QM
Purist Approach
Value of Hamiltonian is
p p mc 2
H= = This is constant!
2m 2
What is important is Hs dependence on p
Hamiltons equations 4-momentum

dx H p dp H conservation
= = = =0
d p m d x
Time components are
d (ct ) E d ( E c)
= =c =0 Energy definition
d mc d and conservation
Purist Approach w/ EM Field
With EM field, Lagrangian becomes
( x , u ) = 12 mu u + qu A p = mu + qA
mu u ( p qA )( p qA )
H= =
2 2m
Hamiltons equations are
dx H p qA dp H ( p qA ) A
= = = =
d p m d x m x
A bit of work can turn them into
du A A
m = q u = K
d x x 4-force

EM Field and Hamiltonian
In Hamiltonian formalism, EM field always modify
the canonical momentum as p A = p0 + qA
With EM field Without EM field

A handy rule:
Hamiltonian with EM field is given by replacing p
in the field-free Hamiltonian with p qA

Often used in relativistic QM to introduce EM interaction

Summary
Constructed Hamiltonian formalism
Equivalent to Lagrangian formalism
Simpler, but twice as many, equations

Hamiltonian is conserved (unless explicitly t-dependent)

Equals to total energy (unless it isnt) (duh)

Cyclic coordinates drops out quite easily

A few new insights from relativistic Hamiltonians
Conjugate of time = energy
p qA rule for introducing EM interaction