The Hamilton . . .

Cananical . . .

Hamiltons equations

Poisson bracket

H-J Eqn

Dr. M Ramegowda
Dept. of Physics
Home Page

Govt. College (Autonomous), Mandya

Title Page

JJ

II

Page 1 of 52

Go Back

Full Screen

Close

Quit

1.

The Hamilton equations of motion

The Hamilton . . .

Cananical . . .

Lagrange formulation is in terms of generalized coordinates qi and generalized

Poisson bracket

velocities qi gives equations of motion, which are second order in time. InH-J Eqn

stead if we regard N generalized coordinates qi and N generalized momenta

pi as independent variables, and again q(t) and p(t) at every instant of time

Home Page

t, we will get 2N first order equations. Hence the 2N equations of motion

Title Page

describe the behaviour of the system ina phase space whose coodinates are the
2N independent variables. These are called canonical coordinates and canonical momenta. This new formulation is by the Hamiltonian and is known as
Hamiltonian formulation.

JJ

II

Page 2 of 52

The Lagrange equations for a free particle can be written as

d L L

= 0
dt qi qi
where

Go Back

(1)

Full Screen

Close

1X
t) = T V =
L(q, q,
miqi2 V
2 i

Quit

L
= miqi = pi
qi
pi are called generalized or conjugate momenta. Equation 2 in 1 gives,
dpi L

= 0
dt
qi
L
pi =
qi
The differential of the Lagrangian can be written as
X L
X L
L
dqi +
dL =
dqi + dt
qi
qi
t
i
i

The Hamilton . . .

(2)
Cananical . . .

Poisson bracket

H-J Eqn

(3)
Home Page

Title Page

(4)

Equations 2 and 3 in 4,
dL =

pi dqi +

X
i

pi dqi +

L
dt
t

(5)

JJ

II

Page 3 of 52

Go Back

If we define the Hamiltonian H(q, p, t) as a function of generalized coordinates qi and generalized momenta pi, the Legendre transformation generate the
Hamiltonian

Full Screen

Close

H(q, p, t) =

X
i

qipi L(q, q,
t)

(6)

Quit

The differential of the Hamiltonian is

X H
X H
X
X
H
qi dpi +
dqi +
dpi +
dt =
pi dqi dL
q
p
t
i
i
i
i
i
i

The Hamilton . . .

Cananical . . .

(7)
Poisson bracket

Equation 5 in 7,
X
X H
X
X H
L
H
pi dqi dt
qi dpi
dqi +
dpi +
dt =
qi
pi
t
t
i
i
i
i
H
pi
H
pi =
qi
L
H

=
t
t
qi =

H-J Eqn

Home Page

(8)
(9)

Title Page

JJ

II

(10)

Equations 8 and 9 are known as the canonical equations of Hamilton. They

Page 4 of 52

Go Back

constitute the desired set of 2N first order equations of motion replacing the
Full Screen

N second order Lagrange equations.

If (x, y, z) are the Cartesian coordinates at time t of a free material point

Close

of mass m moving in a potential field V (x, y, z) = V (qi), we may take q1 =

Quit

x, q2 = y, q3 = z. The kinetic energy T is given by

1
1 X 2
2
2
2
qi
T = m(x + y + z ) = m
2
2
i

The Hamilton . . .

Cananical . . .

Poisson bracket

The Lagrangian for the particle is

H-J Eqn

1 X 2
qi V (qi)
T V =L = m
2
i

Home Page

L
= mqi
qi
pi = mqi

Title Page

On substituting for L and pi in the equation 6,

X
X
H =
qipi L = m
qi2 (T V )
i

II

Page 5 of 52

H = T +V

JJ

Go Back

(11)
Full Screen

Thus the Hamiltonian becomes the total energy of the system.

Close

Quit

1.1.

Hamiltonian for a free particle in different coordinates

The Hamilton . . .

1. Using Cartesian coordinates: (x, y, z) are the Cartesian coordinates at

time t of a free material point of mass m moving in a potential field
V (x, y, z). The kinetic energy T is given by T =

1
2
2 m(x

+ y 2 + z 2).

Cananical . . .

Poisson bracket

H-J Eqn

Thus the Hamiltonian for the particle is

Home Page

1
m(x 2 + y 2 + z 2) + V (x, y, z)
2
1 2
(px + p2y + p2z ) + V (x, y, z)
H =
2m

T +V =H =

Title Page

(12)

2. Using cylindrical polar coordinates: (r, , z) are the cylindrical coordinates at time t of a free material point of mass m in the potential field
V (r).

JJ

II

Page 6 of 52

Go Back

The kinetic energy T is

Full Screen

1
2 + z 2
m r 2 + (r)
2 

1
1
2 + (mz)
=
(mr)
2 + 2 (mr2)
2
2m
r

T =

Close

Quit



2
1
p
T =
p2r + 2 + p2z
2m
r

The Hamilton . . .

Cananical . . .

Then


2
1
p
H =
p2r + 2 + p2z + V (r)
2m
r

Poisson bracket

H-J Eqn

3. Using spherical polar coordinates: (r, , ) are the spherical polar coorHome Page

dinates at time t of a free material point of mass m in the potential field

Title Page

V (r).
The kinetic energy T is






2
2
1
T = m r 2 + r + rsin
2

 2

2 
1
1
1
2 + 2 r2 + 2 2 r2sin2
=
(mr)
2m
r
r sin
"
#
2
2
p
1
p

T =
p2r + 2 + 2 2
2m
r
r sin
Then

JJ

II

Page 7 of 52

Go Back

Full Screen

Close

"

p2
1
p2
2
H =
p + +
+ V (r)
2m r r2 r2sin2

Quit

1.2.

Hamiltonian for an electron in a Coulomb field

Cananical . . .

When an electron revolving about the charge e,

Poisson bracket

e2
v(r) =
r

H-J Eqn

The kinetic energy T of electron in spherical coordinate is

"
#
2
2
p
1
p
2
T =
p + +
2m r r2 r2sin2
Then
"

1
p2r +
H =
2m
1.3.

p2
r2

The Hamilton . . .

p2

e2
+ 2 2
r sin
r

Hamiltonian for the simple harmonic oscillator

The Lagrangian for a simple harmonic oscillator can be written as

X
X p2
X
1 X 2 1
1
i
2
2
2
L= m
qi m
qi =
m
qi 2
2
2
2m 2
i
i
i
i

Home Page

Title Page

JJ

II

Page 8 of 52

Go Back

Full Screen

Close

Quit

The cononical momentum is

The Hamilton . . .

L
pi =
= mqi
q
pi
qi =
m

Cananical . . .

Poisson bracket

H-J Eqn

Then
X p2
X
1
i
i
2
qi 2

+ m
piqi L =
H =
m
2m 2
i
i
i
i
X p2
X
1
i
H =
+ m 2
qi 2
2m 2
i
i
X

1.4.

X p2

Hamiltonian for an electron in electromagnetic field

Title Page

JJ

II

Page 9 of 52

Consider a particle of mass m and charge e moving in an electromagnetic field.

Lagrangian for the particle is
X
1 X 2
~
qi e A.
qi
L=T U = m
2
i
i

Home Page

Go Back

Full Screen

!
Close

Quit



~ qi is the velocity dependent potential.
where e A.

The Hamilton . . .

Cananical . . .

L
~
= pi = mqi + eA
qi
1
~
qi =
(pi eA)
m

Poisson bracket

H-J Eqn

The Hamiltonian H is
X
H =
piqi L

Home Page

Title Page

= m

~
qi2 + eA.

1
qi m
2

1 X 2
qi + e
= m
2
i

!
X
i

~
qi2 + e A.

qi

JJ

II

i
Page 10 of 52

!2

1 X
~ + e
=
p i eA
2m
i
1
~ 2 + e
H =
(~p eA)
2m

Go Back

Full Screen

Close

Quit

1.5.

Cyclic coordinates

The Hamilton . . .

Consider a system of N degrees of freedom described by qi generalized coordinates. The Lagranges equations for the system are
 
d L
L

= 0
dt qi
qi
If Lagrangian of the system does not contain a given coordinate qi even though
it may contain corresponding velocity qi, then the coordinate qi is said to be

Cananical . . .

Poisson bracket

H-J Eqn

Home Page

Title Page

cyclic or ignorable. Then

L
= 0
qi

JJ

II

Therefore,
d
dt

L
= 0
qi
dpi
= 0
dt
pi = constant

The generalized momentum conjugate to a cyclic coordinate is conserved.

Example: In a planetory motion, the angular momentum p is constant

Page 11 of 52

Go Back

Full Screen

Close

Quit

p = mr2 = constant. Here is cyclic.

The Hamilton . . .

Cananical . . .

Poisson bracket

H-J Eqn

Home Page

Title Page

JJ

II

Page 12 of 52

Go Back

Full Screen

Close

Quit

1.6.

Hamiltons Equations from a Variational Principle

The Hamilton . . .

The motion of a conservative system from its configuration at time t1 to

its configuration at time t2 is such that the line integral between the time
t1 and t2 of the Lagrangian of the system has a stationary value for the
actual path of the motion.
Z
I=

Cananical . . .

Poisson bracket

H-J Eqn

Home Page

t2

L(q, q,
t)dt = constant

(13)

Title Page

t1

L = T V is the Lagrangian. Since

L dt has the dimensions of energytime

JJ

II

called action, the principle is sometimes referred to as the principle of least

action. The integral is called the action integral.

Page 13 of 52

The variation of the action integral for fixed time t1 and t2 must be zero.
Z t2
I =
L(q, q,
t) dt = 0
(14)
t1

Byusing equation 6,
Z t2
Z
t) dt =

L(q, q,
t1

Go Back

Full Screen

Close

t2

t1

!
X
i

qipi H

dt = 0

Quit

t2

=
t1

qipi +

pi qi H

The Hamilton . . .

dt = 0 (15)

Cananical . . .

Since,

Poisson bracket

H(q, p) =

X H
i

qi

qi +

X H
i

pi

pi

(16)

Equation 16 in equation 15,


Z t2
Z t2
X Z t2 
H
H
pi dt +
pi qi dt
qi dt = 0
qi
p
q
i
i
t1
t1
t1
i


Z t2
Z t2
X Z t2
H
H
t2
pi dt + pi qi|t1
qi dt = 0
qi
qi pi dt
p
q
i
i
t1
t1
t1
i
Since the variation qi = 0 at the end point, the term pi dqi|tt21 = 0.


Z t2 
X Z t2 
H
H
pi +
qi
pi dt
qi dt = 0
p
q
i
i
t1
t1
i





Z
X t2
H
H
qi
pi pi +
qi dt = 0
p
q
i
i
t1
i
Since the system is holonomic and is described in the phase space, qis and pis
are all independent, and qis and pis are orbitrary at all points of the path.

H-J Eqn

Home Page

Title Page

JJ

II

Page 14 of 52

Go Back

Full Screen

Close

Quit

The above integrals can vanish, only if

H
qi
= 0
pi
H
pi +
= 0
qi

The Hamilton . . .

=
=

H
qi =
pi
H
pi =
qi

Cananical . . .

Poisson bracket

H-J Eqn

which are Hamiltons eqiuations of motion.

Home Page

Title Page

JJ

II

Page 15 of 52

Go Back

Full Screen

Close

Quit

2.

Canonical Transformations

The Hamilton . . .

Cananical . . .

Canonical transformations are transformations of the coordinates and momenta

Poisson bracket

(q, p) that preserve Hamiltons equations (though with a different Hamiltonian).

H-J Eqn

The transformations from one set of coordinates qi to a new set Qi, by transformation equations of the form

Home Page

Qi = Qi(q, t)

(17)

are called point transformations. It can be shown that under a point transformation, a system that obeys the Euler-Lagrange equations in the original

Title Page

JJ

II

coordinates continues to obey them in the new coordinates.

In the Hamiltonian formulation the momenta are also independent variables on
the same level as the generalized coordinates. The concept of transformation of

Page 16 of 52

Go Back

coordinates must therefore be widened to include the simultaneous transforma-

Full Screen

tion of the independent coordinates and momenta, (qi, pi), to a new set Qi, Pi,

Close

with equations of transformation

Quit

Qi = Qi(q, p, t)

(18)

Pi = Pi(q, p, t)

(19)

The Hamilton . . .

Cananical . . .

These transformations are called contact transformations. An arbitrary conPoisson bracket

tact transformation may not preserve Hamiltons equations. The transformations which preserve Hamiltons equations are known as canonical transfor-

H-J Eqn

mations.
Home Page

Equations 17 define a point transformation of configuration space and, equaTitle Page

tions 18 and 19 define a point transformation of phase space.

H(Q, P, t) is the Hamiltonian in the cananical coordinates and the equations

JJ

II

of motion in the new cocodinates are in the Hamiltonian form

H
Q i =
Pi

H
P i =
Qi

(20)

The Hamilton principle in both old coordinates (qi, pi) and canonical coordinates (Qi, Pi) are written as
!
Z t2 X
qipi H(q, p, t) dt = 0

t1

Page 17 of 52

Go Back

Full Screen

Close

(21)
Quit

t2

t1

!
X

Q iPi H(Q, P, t)

The Hamilton . . .

dt = 0

(22)

Cananical . . .

The simultaneous validity of equations 21 and 22 does not mean that the in-

Poisson bracket

tegrands in both expressions are equal. Since the general form of the modified

H-J Eqn

Hamiltons principle has zero variation at the end points, the equations 21 and
Home Page

22 will be satisfied if the integrands are connected by a relation of the form

dF
[qipi H(q, p, t)] = Q iPi H(Q, P, t) +
dt

Title Page

(23)

Here F is any function of the phase space coordinates with continuous second

JJ

II

derivatives called generating function, and is a constant known as a scale

Page 18 of 52

transformation. For canonical transformationc = 1 and the transformation

for which 6= 1 is called extended canonical transformation.

Go Back

The term F/t in equation 23 contributes to the variation of the action integral

Full Screen

only at the end points and will therefore vanish if F is a function of (q, p, t)

Close

or (Q, P, t) or any mixture of the phase space coordinates. F is useful for

Quit

specifying the exact form of the canonical transformation only when half of the

variables are from the old set and half are from the new set.

The Hamilton . . .

If F = F1(q, Q, t), the equation 23 (with = 1) becomes

Cananical . . .

F1 F1
F1
qipi H(q, p, t) = Q iPi H(Q, P, t) +
+
qi +
Qi
t
q
Q
i
i




F1
F1
F1
i
+
pi qi +
+ Pi Q(24)
H(Q, P, t) = H(q, p, t) +
t
qi
Qi

Poisson bracket

H-J Eqn

Home Page

Since the old and the new coordinates, qi, and Qi, are separately independent,
equation 24 can hold identically only if the coefficients of qi, and Q i each vanish.
Thus
F1
qi
F1
Pi =
Qi
pi =

(25)

Title Page

JJ

II

Page 19 of 52

(26)
Go Back

Equations 25 and 26 in equation 24,

Full Screen

F1
H(Q, P, t) = H(q, p, t) +
t

(27)

The function F (q, Q, t) is the generating function of the cananical transformation and it specifies the required equations of the transformation.

Close

Quit

If F = F2(q, P, t) QiPi, the equation 23 (with = 1) becomes

F2 F2
F2
qipi H(q, p, t) = Q iPi H(Q, P, t) +
qi +
+
Pi QiP i Q iPi
qi
Pi
 t


F2
F2
F2
H(Q, P, t) = H(q, p, t) +
+
pi qi +
Qi P i (28)
t
qi
Pi
Since the old and the new coordinates, qi, and Qi, are separately independent,
equation 24 can hold identically only if the coefficients of qi, and Q i each vanish.
Thus

The Hamilton . . .

Cananical . . .

Poisson bracket

H-J Eqn

Home Page

Title Page

F2
qi
F2
Qi =
Pi
Equations 29 and 30 in equation 28,
pi =

F2
H(Q, P, t) = H(q, p, t) +
t

(29)
(30)

JJ

II

Page 20 of 52

Go Back

(31)
Full Screen

2.1.

Other forms of the Generating Function

Close

We made a particular choice to make F a function of qi and Qi. Given the

symmetry between coordinates and canonical momenta, it is likely that we could

Quit

equally well write F as a function of (qi, Pi), (pi, Pi) or (pi, Qi). These different

The Hamilton . . .

generating functions are simply different ways to generate the same canonical

Cananical . . .

transformation (qi, pi) (Qi, Pi). The four basic cananical transfornmations

Poisson bracket

are given in the table 2.1.

H-J Eqn

Generating function

Generating function derivatives

Home Page

F = F1 (q, Q, t)

pi =

F1
qi

F1
Pi = Q
i
Title Page

F = F2 (q, P, t) Qi Pi

pi =

F2
qi

Qi =

F2
Pi

F = F3 (p, Q, t) + qi pi

3
qi = F
pi

3
Qi = F
Pi

F = F4 (p, P, t) + qi pi Qi Pi

4
pi = F
pi

Qi =

F4
Pi

Table 1: Different forms of the Generating Function and their derivatives

JJ

II

Page 21 of 52

Go Back

Full Screen

Consider old and new coordinates,

Close

qi = qi(Q, P )
pi = pi(Q, P )

Quit

Pi = Pi(q, p)

The Hamilton . . .

Qi = Qi(q, p)

Cananical . . .

Poisson bracket

dQi
Qi qj Qi pj
=
+
dt
qj t
pj t
H
Qi
Qi
= Q i =
qj +
pj
Pi
qj
pj

H-J Eqn

Home Page

Since,
Title Page

H = H(Q, P )
H
H pj H qj
=
+
Pi
pj Pi qj Pi
pj
qj
= qj
pj
Pi
Pi

JJ

II

Page 22 of 52

Therefore,

Go Back

qj

qj
pj
Qi
Qi
pj
=
qj +
pj
Pi
Pi
qj
pj

That is, the transformation is canonical only if,









pj
Qi
qi
Qi
=
,
=
Pi Q,P
qj q,p
Pi Q,P
pj q,p

Full Screen

Close

(32)

Quit

2.2.
2.2.1.

Examples of canonical transformation

The Hamilton . . .

Cananical . . .

Generating function of the second type

Poisson bracket

If F2 = qiPi
H-J Eqn

F2
= Pi
qi
F2
= qi
Pi

Home Page

(33)

Title Page

JJ

II

On comparing the values with the table 2.1.,

F2
= Pi = pi
qi
F2
= q i = Qi
Pi

Page 23 of 52

Go Back

(34)
Hence H(q, p, t) = H(Q, P, t) and F2 generates the identity transformation.

Full Screen

Close

Quit

2.2.2.

The Hamilton . . .

Generating function of the first type

Cananical . . .

If F1 = qiQi

Poisson bracket

F1
= Qi
qi
F1
= qi
Qi

H-J Eqn

Home Page

(35)
Title Page

On comparing the values with the table 2.1.,

F1
= Qi = p i
qi
F1
= qi = Pi
Qi

II

Page 24 of 52

(36)
Thus the transformation interchanges the momenta and the coordinates.

JJ

Go Back

Full Screen

Close

Quit

2.2.3.

The Hamilton . . .

Simple harmonic oscillator

The Hamiltonian for a simple harmonic oscillator can be written as

!
X
X
1
H(qi, pi) =
p2i + m2 2
qi2
2m
i
i

Cananical . . .

Poisson bracket

(37)

This form of the Hamiltonian, as the sum of two squares, suggests a transfor-

H-J Eqn

Home Page

mation in which H(q, p, t) is cyclic in the new coordinate. Then a canonical

Title Page

transformation takes the form

pi = f (P ) cos Qi
f (P )
sin Qi
qi =
m

II

(38)
(39)
Page 25 of 52

Substituting for p2i and qi2 by using equations 38 and 39 to equation 37,
!
2
X
X
1
f (P )
f (P )2 cos2 Qi + m2 2
sin2 Qi
H(Qi, Pi) =
2
2
2m
m
i
i
f (P )2
H(Qi, Pi) =
2m

JJ

Go Back

Full Screen

Close

(40)
Quit

If we use a generating function given by

mqi2
F1 =
cot Qi
2
Then
F1
pi =
= mqi cot Qi
qi
F1
mqi2
Pi =
=
Qi 2sin2 Qi
r
2Pi
qi =
sin Qi
m
p
pi =
2Pim cos Qi
On comparing equations 42 and 43 with equations 38 and 39,
p
f (Pi) =
2Pim

The Hamilton . . .

(41)

Poisson bracket

H-J Eqn

Home Page

Title Page

(42)
(43)

X
i

JJ

II

Page 26 of 52

(44)

Equation 44 in equation 40 gives

H =

Cananical . . .

Go Back

Full Screen

Pi =

Pi
i Ei
Pi =

Ei

(45)

Close

i
Quit

where Ei is the total energy of a oscillator. The equations of motion in the

The Hamilton . . .

cananical coordinates is

Cananical . . .

H
Q i =
=
Pi
Qi = t +

(46)

H-J Eqn

(47)

where is the constant of integration evaluated by the initial conditions.

From equations 42 and 43, the solutions for p and q are written as
r
2Ei
qi =
sin ( t + )
2
m
p
pi =
2mEi cos ( t + )

Poisson bracket

Home Page

Title Page

(48)

JJ

II

(49)

Page 27 of 52

From equation 42 and 43, it can see that we have transformed from simple
position qi and momentum pi to phase Qi and energy Pi of the oscillatory
motion. Equation 48 shows that the energy depends only on the oscillator
amplitude. This kind of transformation is going to have obvious use when

Go Back

Full Screen

Close

dealing with mechanical or electromagnetic waves.

Quit

3.

Poisson brackets

The Hamilton . . .

Cananical . . .

Poisson brackets are a powerful and sophisticated tool in the Hamiltonian forPoisson bracket

malism of Classical Mechanics. They also happen to provide a direct link beH-J Eqn

tween classical and quantum mechanics. A classical system with N degrees of

freedom, say a set of N/3 particles in three dimensions, is described by 2N phase

Home Page

space coordinates. These are the N generalized coordinates q1, q2, q3, ...., qN
Title Page

and N conjugate momenta p1, p2, p3, ..., pN . The Hamiltonian of the system
depends on these 2N variables and possibly on time t as well, and it can be
expressed as

JJ

II

H(q1, q2, q3, ...., qN , p1, p2, p3, ..., pN , t)H(qi, pi, t)

Page 28 of 52

The Poisson bracket is an operation which takes two functions of phase

Go Back

space and time, call them F (qi, pi, t) and G(qi, pi, t) and produces a new

Full Screen

function. With respect to cananical coordinates (qi, pi), it is defined as


N 
X
F G F G
[F, G] =

q
p
pi qi
i
i
i

Close

(50)

Quit

In the case of a single degree of freedom, N = 1, phase space is 2-dimensional,

(q, p) and the Poisson bracket has only two terms


F G F G
[F, G] =

q p
p q

The Hamilton . . .

Cananical . . .

(51)

Poisson bracket

H-J Eqn

Time derivative of the function F (qi, pi, t) is


N 
X
dF
F qi F pi
F
=
+
+
dt
qi t pi t
t
i

N 
X
F
F
F
dF
=
qi +
pi +
dt
qi
pi
t
i

Home Page

Title Page

(52)

JJ

II

By using the Hamiltonian equations of motion

H
qi =
pi

Page 29 of 52

H
pi =
qi

Go Back

equation 52 becomes,
dF
=
dt

Full Screen

N 
X
i

F H F H

qi pi pi qi

dF
F
= [F, H] +
dt
t


+

F
t

(53)

Close

Quit

(54)

Equation 53 is the equation of motion of the function F expressed in terms of

The Hamilton . . .

Poisson bracket.

Cananical . . .

Poisson bracket

3.1.

Properties of Poisson bracket

H-J Eqn

1. Consider
Home Page

[F, G1 + G2] = [F, G1] + [F, G2]

Title Page

[F, G1G2] = [F, G1]G2 + G1[F, G2]

2. The Poisson bracket is anti-symmetric in its two arguments
[G, F ] = [F, G]

(55)

An immediate consequence of this is that [F, F ] = 0 for any function at

all.

JJ

II

Page 30 of 52

Go Back

Full Screen

[qj , qk ] = 0 = [pj , pk ]

Close

[qj , pk ] = jk = [pj , qk ]

Quit

3. The Poisson bracket is linear in either of its arguments

The Hamilton . . .

Cananical . . .

[F1 + F2, G] = [F1, G] + [F2, G]

Poisson bracket

[F, G1 + G2] = [F, G1] + [F, G2]

H-J Eqn

[F, G1G2] = [F, G1]G2 + G1[F, G2]

4. Invariance under canonical transformations:

N 
X
F G F G
[F, G](q,p) =

q
p
pi qi
i
i
i

 

F G F G
F G F G
=

+ ...............
q1 p1 p1 q1
q2 p2 p2 q2


F G
F G
+

qn pn pn qn

Home Page

Title Page

JJ

II

Page 31 of 52

Go Back

Full Screen

Close

Quit

F
q1

F
F
q2 ....... qn

F
p1

F
F
p2 ...... pn

0 0....... 1

0 0........ 0

i .

1 0....... 0

0 1........ 0

G
q1
G
q2

.
.
G
qn
G
p1
G
p2

.
.
G
pn

The Hamilton . . .

Cananical . . .

^  
F
G
[F, G] =
J

where consists of 2n elements of (qi, pi) and J is the 2n 2n antisymmetric matrix.

Poisson bracket

H-J Eqn

Home Page

Title Page

JJ

II

Page 32 of 52

Go Back

Full Screen

Close

Quit

For i = 2, the above equation can be written as

0 0

h
i 0 0

F
F
F
F
[F, G](q,p) = q q p p
1
2
1
2
1 0

0 1

The Hamilton . . .

1 0

0 1

0 0

0 0

G
q1
G
q2
G
p1
G
p2

Cananical . . .

Poisson bracket

H-J Eqn

Home Page

are the old coordinates (qi, pi) and = () are the transformed coordinates (Qi, Pi), then
F
F j
=
i
j i
F 1 F 2
F n
=
+
+ ...... +
1 i 2 i
n i

F
1
F
2

1
i

2
n
......
i
i

F
n

Title Page

JJ

II

Page 33 of 52

Go Back

Full Screen

Close

Quit

g  
F
=

Similarly,

The Hamilton . . .

Cananical . . .

Poisson bracket

g  
G
=

H-J Eqn

Therefore,
Home Page

g
   g  
^
F
G
[F, G] =
J

^   g  
F

G
=
J

If the transformation is canonical,

  g

J
= J

Therefore,
   
G

[F, G] =
J

= [F, G]
[F, G](q,p) = [F, G](Q,P )

Title Page

JJ

II

Page 34 of 52

Go Back

Full Screen

Close

Quit

3.2.

Constants of the Motion

The Hamilton . . .

A constant of the motion is some function of phase space, independent of time,

F (qi, pi), whose value is constant for any particle. In other words, F (qi, pi) is

Cananical . . .

Poisson bracket

H-J Eqn

a constant of the motion if

dF
= 0.
dt
Since we specified that F does not depend explicitly in time it follows that

Home Page

Title Page

F
=0
t
Then from equation 54,

JJ

II

[F, H] = 0

Page 35 of 52

Thus F is a constant of the motion if and only if [F, H] = 0 for all points in

Go Back

phase space.
Full Screen

Energy: Due to the anti-symmetry of the Poisson bracket [H, H] = 0.

Close

Using this in equation 54,

dH H
=
dt
t

Quit

(56)

If the Hamiltonian does not depend on time explicitly,

The Hamilton . . .

H
=0
t

Cananical . . .

Poisson bracket

Then
dH
= 0,
H(qi, pi) = constant
(57)
dt
That is energy is conserved in cases where the Hamiltonian is timeindependent.

H-J Eqn

Home Page

Title Page

Linear Momentum: In a case where the Hamiltonian does not con-

JJ

II

tain a particular coordinate, qi , explicitly it is said to be cyclic in that

coordinate. Then
Page 36 of 52

[pi, H] =

pi H pi H
H

=
qi pi pi qi
qi


pi
=0
qi

(58)

Since qi is cyclic, (H/qi) = 0, then [pi, H] = 0, so pk is a constant of the

motion. Thus the momentum is conserved if it is conjugate to a cyclic

Go Back

Full Screen

Close

coordinate.
Quit

Angular Momentum: Consider a particle in three dimension, (x, y, z),

subject to a central force potential V (r) = V (x, y, z). The kinetic energy

The Hamilton . . .

of the system is

Cananical . . .

1 2
(px + p2y + p2z )
2m
T
T
px
py
,
=
= ,
px
m
py m

Poisson bracket

T =

T
pz
=
pz m

H-J Eqn

(59)
Home Page

The potential energy of the system is

p

2
2
2
V = V (r) = V
x +y +z

Title Page

JJ

II

V
V
V
x
y
z
0
=p
V 0(r),
=p
V 0(r),
=p
J V (r)
I
x
y
z
x2 + y 2 + z 2
x2 + y 2 + z 2
x2 + y 2 + z 2
(60)
Page 37 of 52
where V 0(r) is the potential function. The Hamiltonian of the system is
Go Back

H =

1 2
(px + p2y + p2z ) + V (x, y, z)
2m

Angular momentum of the system is defined as

~ = ~r p~
L

(61)

Full Screen

Close

Quit

and the components of L can be written as

The Hamilton . . .

Cananical . . .

Lz = xpy ypx

Poisson bracket

Ly = zpx xpz
H-J Eqn

Lx = ypz zpx
Consider

Home Page

Title Page

[Lz , H] = [Lz , T + V ]
[Lz , H] = [Lz , T ] + [Lz , V ]
Lz T
Lz T

qi pi
pi qi
Lz T Lz T
Lz T
Lz T
=

x px px x
y py py y


Lz T
Lz T
T
=
+
=0
x px
y py
qi

T
=
(xpy ypx)
+ (xpy ypx)
x
px y
py

[Lz , T ] =

JJ

II

Page 38 of 52

Go Back

Full Screen

Close

Quit

(62)

By using equation 59,

The Hamilton . . .

px
py
[Lz , T ] = py px = 0
m
m
[Lz , V ] =
=
=
=
[Lz , V ] =

(63)

Poisson bracket

Lz V
Lz V

qi pi
pi qi
Lz V
Lz V
Lz V
Lz V

x px px x
y py py y


Lz V
Lz V
V

=0
px x
py y
pi

(xpy ypx)
(xpy ypx)
px
x py
y
V
V
y
x
x
y

By using equation 60,

[Lz , V ] = y p

Cananical . . .

H-J Eqn

Home Page

Title Page

JJ

II

Page 39 of 52

Go Back

x
x2 + y 2 + z 2

V 0(r) x p

y
x2 + y 2 + z 2

V 0(r) = 0 (64)

Full Screen

Close

Equations 63 and 63 gives

Quit

[Lz , H] = [Lz , T ] + [Lz , V ] = 0

Similarly we can show that [Lx, H] = 0, [Ly , H] = 0. Therefore for a

The Hamilton . . .

particle moving in a central force potential all three components of

Cananical . . .

angular momentum are conserved.

Poisson bracket

H-J Eqn

3.3.

Angular momentum and Poisson bracket relations

Home Page

Angular momentum of the system is defined as

Title Page

~ = ~r p~
L

JJ

II

The components of L in Cartesian coordinates are

Lz = xpy ypx
Page 40 of 52

Ly = zpx xpz
Go Back

Lx = ypz zpx
Full Screen

If F is a vector rotating about z axis, the equation of motion in terms of Poisson

Close

bracket is
dF
= [F, Lz ]
d

Quit

(65)

Also we can write

The Hamilton . . .

dF~
= k F~
d

Cananical . . .

(66)
Poisson bracket

By using equations 65 and 66,

H-J Eqn

[F, Lz ] = k F~

(67)
Home Page

If F~ = ~r = (ix + jy + kz), then

Title Page

[F, Lz ]x = [x, Lz ] = k (ix)

[x, Lz ] = y
Similarly,

JJ

II

[F, Lz]y = [y, Lz] = x

Page 41 of 52

[F, Lz ]z = [z, Lz ] = 0
Go Back

(68)
Full Screen

Then we can write general relation as

Close

[qi, Lj ] = ijk qk

Quit

where ijk = 0 for i = j or j = k, ijk = 1 for ijk are distinct and in cyclic
order and ijk = 1 for ijk are distinct and not in cyclic order.
If F~ = P~ = (ipx + jpy + kpz ), then
[F, Lz ]x = [px, Lz ] = k (ipx)

The Hamilton . . .

Cananical . . .

Poisson bracket

H-J Eqn

[px, Lz ] = py
Home Page

Similarly,

[F, Lz ]y = [py , Lz ] = px
Title Page

[F, Lz ]z = [pz , Lz ] = 0
JJ

II

The general relation is

[pi, Lj ] = ijk pk

Page 42 of 52

Go Back

~ = (iLx + jLy + kLz ), then

If F~ = L

Full Screen

[F, Lz ]x = [Lx, Lz ] = k (iLx)

[Lx, Lz ] = Ly
Similarly,

[F, Lz ]y = [Ly , Lz ] = Lx

Close

Quit

[F, Lz ]z = [Lz , Lz ] = 0

The Hamilton . . .

(69)

Cananical . . .

Poisson bracket

Again consider
H-J Eqn

[Lx, Ly ] = [ypz zpx, Ly ]

= [ypz , Ly ] [zpx, Ly ]

Home Page

= [ypz , zpx xpz ] [zpx, zpx xpz ]

Title Page

= [ypz , zpx] [ypz , xpz ] [zpx, zpx] + [zpx, xpz ]

= [ypz , zpx] + [zpy , xpz ]
= xpy ypx
[Lx, Ly ] = Lz ,

([ypz , xpz ] = 0,

JJ

II

[zpx, zp
] =I 0)
J x
Page 43 of 52

[Ly , Lx] = Lz
Go Back

Similarly,

[Ly , Lz ] = Lx,

[Lz , Ly ] = Lx
Full Screen

[Lz , Lx] = Ly ,

[Lx, Lz ] = Ly
Close

Thus the general relation can be written as

Quit

[Li, Lj ] = ijk Lk

The Hamilton . . .

Cananical . . .

where ijk = 0 for i = j or j = k, ijk = 1 for ijk are distinct and in cyclic
order and ijk = 1 for ijk are distinct and not in cyclic order.

Poisson bracket

H-J Eqn

Home Page

Title Page

JJ

II

Page 44 of 52

Go Back

Full Screen

Close

Quit

4.

Hamilton-Jacobi equation

The Hamilton . . .

Cananical . . .

The Hamilton-Jacobi equation makes use of a special canonical transformation

Poisson bracket

to convert the standard Hamiltonian problem of 2N first-order ordinary difH-J Eqn

ferential equations in 2N variables into a single first-order partial differential

equation with N + 1 partial derivatives with respect to the qi and time.

Home Page

If a canonical transformation from some arbitrary set of generalized coordinates

Title Page

(q, p) to some new set (Q, P ) such that all the Q and P are constant in time,
then
H
H
Q i =
=0
P i =
=0
Pi
Qi
One way to guarantee the above conditions is to require that

(70)

JJ

II

Page 45 of 52

Go Back

H(Q, P ) = 0
Full Screen

Equation for the transformation of the Hamiltonian under a canonical transClose

formation, (equation 31), becomes

F
H(q, p, t) +
= 0
t

Quit

(71)

Since the new momenta will be constant, it is sensible to make F a function of

The Hamilton . . .

the type F2, F = S(q, P ). Then

Cananical . . .

pi =

S
qi

(72)

Poisson bracket

H-J Eqn

The equation 71 becomes,


S
S
= 0
H q, , t +
qi
t


(73)

Home Page

Equation 73 is called Hamilton-Jacobi equation, constitutes a partial differential

Title Page

equation of N independent cocordinates q1, q2, q3, .........., qN and t. That is

JJ

II

there are N + 1 variables (N initial values of q and a constant energy). S is

known as Hamiltons principle function.

Page 46 of 52

Since a solution S of the equation 73 will generate a transformation that makes

Go Back

the N components of P constant, and since S is a function of the P , the P

can be taken to be the N constants. Independent of the above equation, we
know that there must be N additional constants to specify the full motion.
These are the Q. The existence of these extra constants is not implied by the
Hamilton-Jacobi equation, since it only needs N + 1 constants to find a full

Full Screen

Close

Quit

solution S. The additional N constants exist because of Hamiltons equations,

The Hamilton . . .

which require 2N initial conditions for a full solution.

Cananical . . .

Since the P and Q are constants, it is conventional to refer to them with the

Poisson bracket

symbols i = Pi and i = Qi. The full solution q(t), p(t) to the problem is

H-J Eqn

found by making use of the generating function S and the initial conditions
q(0) and p(0). Then the function S is

Home Page

S = S(q, P, t) = S(q1, q2, ......, qN , 1, 2, 3, ......N +1, t) = S(q, , t)

Title Page

JJ

II

where quantities 1, 2, 3, ......N +1 are N + 1 independent constants of integration. The generating function partial derivative relations are
S
pi =
qi

S
i =
= Qi
i

Page 47 of 52

(74)
Go Back

The constants and are found by applying the above equations at t = 0.

Full Screen

The time derivative of S can be written as

X S dqi S
dS
=
+
dt
q
dt
t
i
i

Close

(75)
Quit

By using equations 72 and 73 in equation 75

X
dS
=
piqi H = L
dt
Zi
S =
L dt + constant

The Hamilton . . .

Cananical . . .

(76)
Poisson bracket

(77)

This is an interesting result - that the action integral is the generator of the

H-J Eqn

Home Page

canonical transformation that corresponds to time evolution.

Title Page

When the Hamiltonian does not depend explicitly upon the time, Hamiltons
principle function S can be written in the form
S(q, , t) = W (q, ) t
S
W
S
=
,
= = E
qi
qi
t

JJ

II

(78)
(79)

Page 48 of 52

Go Back

where = E is the time independent value of H and W (q, ) is called HamilFull Screen

tons characteristic function.

The time derivative of W (q, ) is
dW
W
qi
=
dt
qi

Close

(80)

Quit

By using equations 74 and 79 in equation 80,

dW
= piqi
dt
Z
Z
W =
piqidt = pidqi

The Hamilton . . .

(81)

Cananical . . .

Poisson bracket

(82)
H-J Eqn

which is known as the abbreviated action.

Home Page

4.1.

Simple harmonic oscillator

Title Page

The simple harmonic oscillator Hamiltonian is

1
H =
p2 + m2 2q 2 = E
(83)
2m
where E is the time independent value of H. The Hamilton-Jacobi equation

JJ

II

Page 49 of 52

for this Hamiltonian can be written by using equation 74 as

" 
#
2
1
S
S
+ m2 2q 2 +
= 0
2m
q
t
Since H is conserved, S
t = constant = and by using equation 79
"
#
2
1
W
+ m2 2 q 2 =
2m
q

Go Back

(84)
Full Screen

Close

Quit

p
W
=
2m m2 2q 2
q
Z r

m 2q 2
W = 2m
1
dq
2

The Hamilton . . .

(85)
Cananical . . .

(86)

Poisson bracket

H-J Eqn

Since S = W t, then
S =
S
=

+t =
q =
q =

Z r

m 2q 2
2m
1
dq t
2
r Z
m
dq
q
t
2
m 2 q 2
1 2
q
Z
m 2
1
2
q
dq t

m 2 q 2
1 2
r
1
m 2
arc sin
q

2
r
2
sin(t + )
2
m
r
2
sin(t + )
m 2

(87)

Home Page

Title Page

JJ

II

Page 50 of 52

Go Back

Full Screen

Close

(88)

Quit

Again consider equation 85,

The Hamilton . . .

W
=
q
p =
p =

m 2q 2
2m 1
2

Cananical . . .

Poisson bracket

2m[1 sin2(t + )]

2m cos(t + )

H-J Eqn

(89)
Home Page

At time t = 0, the equations 88 and 89 becomes

r
2
sin
qo =
2
m

po = 2m cos

Title Page

(90)
(91)

On squaring and adding the above equations, we get

2m = p2o m2 2qo2

II

Page 51 of 52

(92)

Thus can be obtained in terms of po and qo. Equations 90/91 gives

qo
tan = m
(93)
po
When qo = 0, = 0 corresponds to starting the motion with the oscillator at
its equilibrium position q = 0.

JJ

Go Back

Full Screen

Close

Quit

Thus Hamiltons principle function is the generator of a canonical transforma-

The Hamilton . . .

tion to a new coordinate that measures the phase angle of the oscillation and

Cananical . . .

to a new canonical momentum identified as the total energy.

Poisson bracket

By using equation 86, the Hamiltons principle function can be written as

r
Z

m 2q 2
S = 2m
1
dq t
2
On substituting for q and dq by using equation 88,
Z
S = 2 cos2(t + )dt t
Z


2
2 cos (t + ) 1 dt
=
Z


S =
cos2(t + ) sin2(t + ) dt
(94)
from equations 88 and 89, we can get

Z  2
2
p
m q
S =

dt
2m
2
Z
S =
L dt

H-J Eqn

Home Page

Title Page

JJ

II

Page 52 of 52

Go Back

(95)

Full Screen

Close

(96)
Quit

i.e., S is the time integral of the Lagrangian.