Hamiltonian Mechanics Cheat Sheet

Paul Druce March 3, 2014

Throughout this document I shall denote the kinetic energy by T , and the potential energy by V .

1 Newtonian
Momentum p = mv - For individual P particles
Total Linear Momentum - P = i mi vi - This is constant, and is summed P over all particles in the system.
Total Angular Moment - L = mr × v (for individual particles or L = i mi ri × vi for the entire system.
Total linear/angular momentum are conserved and are therefore constant.
Torque - τ = r × F. But, F = ṗ =⇒ τ = r × F = r × ṗ =?.

d
Lets look at dt (r × p) = r × ṗ + ṙ × p = r × ṗ + |v ×{zmv} = r × ṗ.
=0
d d
So we have that the torque
R is: 2τ = × p) =
dt (r L̇. dt (L) =
2
R
Moment of Inertia: I = body r dm = body r ρdV .
Inertia Tensor - L = Iω. The inertia tensor is symmetric, so Iij = Iji , and we can define a set of axis s.t I
is diagonal. These axes are known as the Principle Axes of the body.
Combined Rotation and Translation - The velocity can be written as vi = vri + vti = vti + ω × ri . This
would make the kinetic energy
1X 1X 1X 2 1X 2
X
T = mi vI · vi = mi (vti + vri ) · (vti + vri ) = mi vti + mi vri + mi vti · vri
2 2 2 2
i i i i i
| {z } | {z } | {z }
Translational KE Rotational KE Cross Terms

The cross terms will vanish when we choose the axes that go through the centre of mass of the body.

2 Lagrangian/Hamiltonian
R
Action - A = Ldt, where L is the Lagrangian defined by L = T − V in classical settings.
We find the equations of motion by minimising the action. I would suggest you learn how to arrive at the
following equations of motion, it most likely will turn up on the exam and be worth a fair few marks.
 ∂L d ∂L
Euler - Lagrange Equations - − ( )=0
∂qi dt ∂ q˙i
∂L ∂H ∂L 
Hamiltonian - H = q̇ − L , also another relation to remember is: = − x,ẋ
∂ q̇ ∂t ∂t
These imply that H is a constant of motion if L has no explicit time dependance!
−~
H is also useful because it is often the total energy. I.e In QM: H = 2m ∇2 + V , in classical mechanics:
1 2
H = 2 mv + V .

∂L ∂L
Canonical Momenta - pi = ∂ q˙i and p˙i = ∂qi

∂H ∂H
Hamilton’s Equations - = −ṗi and = q˙i
∂qi ∂pi

3 Normal Modes and Small Oscilllations

1X 1 2
Inertia Tensor : T = Iij q˙i q˙j - (Think of this being similar to 2 mv ). Here Iij is the inertia tensor
2
i
written in matrix form.
This is always symmetric and is diagonal in the principal axes.

∂L ∂T ∂ 1 P
Canonical Momenta - pk = ∂ q˙k = (If V doesn’t depend on q˙k ) = ∂ q˙k = ∂ q˙k ( 2 ij Iij q˙i q̇j ).
X
This implies that pk = Ijk q˙j .
j

∂2V 

Stiffness Tensor - Kij = ∂xi ∂xj x=0

3.1 Equations of motion for small oscillations

d P P ∂2V 
Use pi = Fi =⇒ dt ( ij Iij q̇i ) = − ij ∂xi ∂xj x=0 .

d
This implies that dt (I ẋ) = −Kx. Which is the inertia tensor is not time dependant then we have:

I ẍ = −Kx
(This is analogous with the simple harmonic equation” mẍ = −kx.)
Assume a solution of the form: x(t) = Re[A exp(iωt)]. This implies that:
X
x(t) = Re[A(m) X(m) exp(iω (m) t)]
m

Where the superscript m represents different modes. The capital X vector represents a directional eigenvector
and the ω is the frequency for the eigenvalue.
To find these, we need to solve
K − Iω 2  = 0
 

for each eigenvalue.

From linear analysis we have that:
2
X(λ)T · I · X(µ) = (ω (m) ) δλµ