Beruflich Dokumente
Kultur Dokumente
Mechanics
Brian Tu
Jan. 14, 2014
Contents
1 Introduction
2 Preliminaries
3 Poisson Bracket
3.1 Characterization of Canonical Transforms . . . . . . . . . . . . . . . . .
3.2 Application to Integrals of Motion . . . . . . . . . . . . . . . . . . . . . .
3
3
5
5 Generating Functions
Introduction
Preliminaries
pi =
3
3.1
Poisson Bracket
Characterization of Canonical Transforms
We saw above that one way to characterize a canonical transformation is by checking (1).
Another way of characterizing these transformations is by using an operation called the
Poisson bracket.
Definition 3.1. A Poisson bracket is a binary operation on two functions f (q, p),
g(q, p) defined as
n
X
f g
f g
.
{f, g} =
qi pi pi qi
i=1
It is immediate from the definition that
{f, g} = {g, f }
and that q and p satisfy
{qi , qj } = 0,
{pi , pj } = 0,
{qi , pj } = ij .
(2)
It is natural to expect to expect that (2) holds for canonical transformations; in fact this
is a sufficient condition. We have the following theorem.
Theorem 3.1. The Poisson bracket is invariant under canonical transformations. Conversely, if
Q : qi 7 Qi (q, p), P : pi 7 Pi (q, p)
is a transformation of q and p such that
{Qi , Qj } = 0,
{Pi , Pj } = 0,
{Qi , Pj } = ij ,
qi pi pi qi
i=1
=
f g
J
.
x x
{f, g} =
This shows the invariance of the Poisson bracket. For the other direction, note that we
can write the Jacobian as
Q Q
q p
J =
P P .
q
Computing, we have
J JJ
{Q, Q} {Q, P }
=
{P, Q} {P, P }
where
({Q, P })ij = {Qi , Pj },
and the other entries are defined similarly. Thus we have
J JJ T = J
and the transformation is canonical.
We develop another method of characterizing canonical transformations. Let Q(q, p) and
P (q, p) be a canonical transformation. We have
and
Qi
Qi
Qi H Qi H
Q i =
q +
p =
q
p
q p
p q
(3)
H
H q
H p
=
+
.
Pi
q Pi
p Pi
(4)
=
+
.
q p
p q
q Pi
p Pi
p q
Pi
q Pi
p
Since H/p = q 6= 0 and H/q = p 6= 0, this implies that the quantities in the
parentheses are 0. Hence
Qi
p
=
q
Pi
and
Qi
q
=
.
p
Pi
(5)
and
Pi
p
=
.
q
Qi
(6)
Hence canonical transformations imply (5) and (6). In fact the converse is true as well.
Suppose that (5) and (6) hold for some transformation Q and P not necessarily canonical.
We have
H
H q
H p
H Qi H Qi
=
+
=
+
= Q i
Pi
q Pi
p Pi
q p
p q
and
H q
H p
H Pi H Pi
H
=
+
=
+
= Pi ,
Qi
q Qi
p Qi
q p
p q
and hence the transformation is canonical. Thus we obtain another characterization of
canonical transformations [2, p. 9].
4
3.2
The Poisson bracket also neatly characterizes the integrals of motion. A function f is an
integral of motion iff {f, H} = 0 [4]. To see this, note that
X
n
n
X
f H
f
df
f
f H
=
qi +
pi = ,
{f, H} =
qi pi
pi qi
qi
pi
dt
i=1
i=1
which is 0 if f is an integral of motion. We can apply this to an integral of motion we
discussed this year:
Example 3.1 (Conservation of Linear Momentum). Recall that a coordinate qk is cyclic
if it does enter into the Hamiltonian; e.g.,
H
= 0.
qk
Suppose that qk is a cyclic coordinate. Then momentum in that direction is conserved:
{pk , H} =
H
= 0.
qk
Example 3.2 (Conservation of Energy). We know that that Hamiltonian is the sum of
the kinetic and potential energies of a system. We have {H, H} = 0 from antisymmetry
of the Poisson bracket, and hence energy is conserved.
Pi () = Pi (q, p, ),
and
Q(0) = q
P (0) = p.
Pi () = pi + dpi .
We wish to know what relationships dq and dp must satisfy for the transformation to be
canonical. The Jacobian is
In + dq/q
dq/p
J =
dp/q
In + dp/p
F
= dp,
q
(7)
(8)
J =
and thus
Q
p
=
,
q
P
so we have
J = 1,
as desired.
Generating Functions
F
,
qi
F
Qi
then F will be a canonical transformation. This can be shown using Theorem 3.1.
F is known as a generating function of the first kind. There are four other kinds of generating functions that generate canonical transformations, with other coordinates defined
as follows [5, 4]:
F2
F2
,P =
q
P
F3
F3
q=
,P =
p
Q
F4
F4
,Q =
.
q=
p
P
F = F2 (q, P ) QP ,
p=
F = F3 (p, Q) + qp,
F = F4 (p, P ) + qp QP ,
I pledge my honor that this represents my own work in accordance with University policy.
7
References
[1] Arnold, V. I. Variational Principles. Mathematical Methods of Classical Mechanics.
New York: Springer-Verlag, 1978. 66-70. Print.
[2] Morii, Masahiro. Lectures Notes on Physics 151: Mechanics. N.p., n.d. Web. 14
Jan. 2014.
[3] Moser, Jurgen, and Eduard Zehnder. Transformation Theory. Notes on Dynamical
Systems. New York: Courant Institute of Mathematical Sciences, New York University, 2005. 14-25. PDF.
[4] Tong, David. Lecture Notes on Hamiltonian Formalism. N.p., n.d. Web. 14 Jan.
2014.
[5] Torre, Charles. Lecture Notes on Infinitesimal Canonical Transformations. N.p.,
n.d. Web. 14 Jan. 2014.