Dylan J.

Temples: Solution Set Eight

Northwestern University, Classical Mechanics
Classical Mechanics, Third Ed.- Goldstein
November 30, 2015

Contents
1 Goldstein 8.3.
1.1 Form of G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Test Case: Simple Harmonic Oscillator. . . . . . . . . . . . . . . . . . . . . . . . . .

2
2
3

2 Problem #2: A 3D Central Potential.

2.1 The Hamiltonian. . . . . . . . . . . . . . .
2.2 Constants of Motion. . . . . . . . . . . . .
2.3 Hamiltons Equations. . . . . . . . . . . .
2.4 Comparison to Euler-Lagrange Equations.

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3 Problem #3: Constrained Motion with Hamiltonians.

4 Goldstein 8.26.
4.1 Lagrangian and Hamiltonian. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Change of Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8
8
8

5 Goldstein 8.19.

10

Dylan J. Temples

Goldstein : Solution Set Eight

Goldstein 8.3.

Consider a function G(p, p;

t) which is defined as a double Legendre transformation of the Lagrangian, L(q, q;
t), with p and p as independent variables.

1.1

Form of G.

The Hamiltonian is constructed by performing a Legendre transformation on the variable qi to the

variable pi . From a generic Lagrangian, L(q, q;
t), the Euler-Lagrange equations are
L
d L
=
.
qi
dt qi

(1)

Now consider the total differential of the Lagrangian,

dL(q, q;
t) =

L
L
L
dqi +
dqi +
dt .
qi
qi
t

(2)

In order to properly transform q p, and get the Hamiltonian, H(q, p; t), there must be no dqi
dependence in the total differential. Therefore the variable being transformed from is multiplied
by the variable being transformed to, and the function that is being transformed is subtracted,
H = qi pi L .

(3)

Now consider the total differential of the Hamiltonian,

dH(q, p; t) =

H
H
L
L
L
H
dqi +
dpi +
dt = pi dqi + qi dpi
dqi
dqi
dt ,
qi
pi
t
qi
qi
t

(4)

after plugging in the Lagrangian. As stated before, the terms with dqi dependence must cancel, so
the following relationship for the transformation is obtained by equating the coefficients of these
terms,
L
pi =
.
(5)
qi
Hamiltons equations can be found by equating the coefficients of similar total differential terms:
qi =

H
pi

H
L
=
S
qi
qi

H
L
=
.
t
t

(6)

Note that taking the time derivative of Equation 5 yields

d L
L
d
pi = pi =
=
= S,
dt
dt qi
qi

(7)

so S = pi and the correct Hamilton equation is obtained (as expected). Now consider a second Legendre transformation, qi S = pi . Following the procedure above, the terms with dqi dependence
must cancel in the total differential of the new double-transformed function,


L
L
G = qi pi H dG = qi dpi + pi dqi qi dpi
dqi
dt ,
(8)
qi
t
so the plus form must be correct (to get the terms to cancel), so the new function is
G = qi pi + H

dG = qi dpi + qi dpi

L
H
dt = qi dpi + qi dpi +
dt .
t
t

(9)
Page 2 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

To get the equivalent of Hamiltons equations for this double-Legendre transformed function, consider the definition of the total differential of G,
dG(pi , pi ; t) =

G
G
G
dpi +
dpi +
dt ,
pi
pi
t

(10)

and equate the coefficients of like terms from the previous expression for the total differential of G.
The resulting equations are
qi =

1.2

G
pi

qi =

G
pi

G
H
L
=
=
.
t
t
t

(11)

Test Case: Simple Harmonic Oscillator.

Consider the simple case of a one dimensional horizontal harmonic oscillator consisting of a mass
m attached to a spring of constant k. This can be solved with the function G as defined above. The
Lagrangian for the simple one dimensional oscillator is trivial to write down, but using Equations 7
and 5, it can be shown that
p = mq
p = m 2 q ,
(12)
p
where = k/m is the frequency of oscillation. Therefore,
p2
p2
m 2
G=
+
+
m 2 2m
2


2
p
p2
p2

.
m 2
2m 2m 2

(13)

So the Hamilton-esque equations are

q = p/m

q=

p
,
m 2

(14)

so by differentiating the left most equation, solving the right most equation for p,
and plugging
that into the expression for q, the equation
q = 2 q ,

(15)

is obtained, which is easily recognizable as the equation for a simple harmonic oscillator in one
dimension. Note that the potential term in G does not explicitly depend on velocity, so the Hamiltonian is the total energy. Additionally because the partial derivative with respect to time of L, H,
and G are all zero, the Hamiltonian is conserved, and therefore total energy is a constant of the
motion.

Page 3 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Problem #2: A 3D Central Potential.

Consider a full three dimensional central potential UE (r), using standard spherical polar coordinates {r, , } as the generalized coordinates. In terms of the spherical coordinates, the Cartesian
coordinates are
x = r sin cos x = r sin cos + r cos cos r sin sin
y = r sin sin y = r sin sin + r cos sin + r sin cos
sin .
z = r cos z = r cos r

(16)
(17)
(18)

Note that v 2 is given by x 2 + y 2 + z 2 , so

v 2 = r 2 + r2 2 + r2 sin2 2 .

2.1

(19)

The Hamiltonian.

Given v 2 and the general potential, the Lagrangian is

1
1
1
L = mr 2 + mr2 2 + mr2 sin2 2 UE (r) .
2
2
2

(20)

The conjugate momenta are given by Pq = L/ q,

so
L
= mr
r
L
P =
= mr2

L
= mr2 sin2
P =

Pr =

r = Pr /m

(21)

= P /mr2

(22)

= P /mr2 sin2 .

(23)

Therefore the Hamiltonian is given by

+ P
L
H = rP
r + P
Pr2

P2
mr2

P2
mr2 sin2

(24)
Pr2

P2

+
+

m
2m 2mr2
P2
P2
P2
= r +
+
+ UE = Etot ,
2m 2mr2 2mr2 sin2
=

P2
2mr2 sin2

+ UE

(25)
(26)

and is equal to the total energy of the system.

2.2

Constants of Motion.

From this Hamiltonian, it is easy to determine some constants of motion. Noting that the Hamiltonian is not explicitly dependent on time means it is conserved, and therefore the total energy is
as well. The conjugate momentum to is also conserved because from Hamiltons equations,
H
P =
=0

P = cst.

(27)

Page 4 of 11

Dylan J. Temples

2.3

Goldstein : Solution Set Eight

Hamiltons Equations.

The remaining Hamilton equations are

P2
H
Pr =
= 3
r
mr
H
P =

H
= Pr /m
r =
Pr
H
P
=
=
P
mr2
P
H
=
=
2
P
mr sin2

+
=

P2
mr3 sin2

UE
r

P2 cos

mr2 sin3
m
r = Pr
d
= P
[mr2 ]
dt
d
= P ,
[mr2 sin2 ]
dt

(28)
(29)
(30)
(31)
(32)

after differentiating the second set of equations with respect to time. Now the first three equations
can be equated to the second three using the expressions on the right hand side of the equations
above. Taking the indicated time derivatives and setting them equal to the corresponding momentum time derivative yields
2

P
P2
UE
+

mr3 mr3 sin2

r
2
P cos
2mrr + mr2 =
mr2 sin3
2
2
2mrr sin + 2mr sin cos + mr2 sin2 = 0 .
m
r=

(33)
(34)
(35)

From here the definitions of the conjugate momenta (Equations 72 - 23) can be substituted in, and
the expressions solved for the second time derivative terms,
UE
r
2
2
2

mr = mr sin cos 2mrr

mr2 sin2 = 2mrr sin2 2mr2 sin cos ,
m
r = mr2 + mr sin2 2

(36)
(37)
(38)

which are the coupled equations of motion for r, , and .

2.4

Comparison to Euler-Lagrange Equations.

These equations of motion can now be compared to the equations of motion found by using the
Lagrangian method. The Euler-Lagrange equations are
d L
L
=
.
dt q
q

(39)

Page 5 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Applying this to the Lagrangian given in Equation 20 gives the three Lagrangian equations of
motion,
d
Ue
[mr]
= mr2 + mr sin2 2
dt
r
d
2
2
[mr ] = mr sin cos 2
dt
d
=0
[mr2 sin2 ]
dt

Ue
m
r = mr2 + mr sin2 2
r
2
2
2
mr = mr sin cos 2mrr

mr2 sin2 = 2mrr sin2 2mr2 sin cos

(40)
(41)

(42)
which are exactly the same equations of motion found through the Hamiltonian approach.

Page 6 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Problem #3: Constrained Motion with Hamiltonians.

Consider a particle of mass m subject to a central force F = kr, where r is a vector from the origin
to the particle. The particle is constrained to move on a cylinder centered on the z-axis, defined
by x2 + y 2 = R2 . The transformation from cylindrical coordinates on this surface to Cartesian
coordinates is given by
(43)

x = R sin
y = R cos

z = z ,

(45)

x = R cos

y = R sin
z=z

(44)

so the velocity squared is

v 2 = x 2 + y 2 + z 2 = 2 R2 + z 2 ,

(46)

1
2
2 mv .

from which the kinetic energy can be found directly, T =

In order to find the Lagrangian,
the potential energy must still be determined. A conservative force can be written as F = U ,
where U is the potential energy. The force described above is
= U i U j U k
,
F = kxi kyj kz k
x
y
z

(47)

which implies the potential is U = 21 k(x2 + y 2 + z 2 ) = 12 k(R2 + z 2 ). Hence, the Lagrangian is

1
1
1
1
L = mR2 2 + mz 2 kR2 kz 2 ,
2
2
2
2
and the conjugate momenta are
L
= mR2

L
Pz =
= m
z

P =

(48)

= P /mR2

(49)

z = Pz /m.

(50)

P
mR2

2

The Hamilton, then, is

P2
Pz2
1
+ 2 mR2
m
mR
2
2
2
1 P
1 Pz
1
1
=
+
+ kR2 + kz 2 .
2
2 mR
2m
2
2
Using Hamiltons equations,
L=
H = zP
z + P

1
m
2

Pz
m

2

1
1
+ kR2 + kz 2
2
2

(51)
(52)

H
H
P =
=0
Pz =
= kz
(53)

z
H
P
H
Pz
=
=
z =
=
.
(54)
2
P
mR
Pz
m
From this, it is easy to see P is a constant of the motion. By differentiating the expression for z
with respect to time and substituting in the expression for Pz , the Hamiltonian equations of motion
are
k
z = z
(55)
m
` = mR2 ,
(56)
where ` is the angular momentum. So the motion is a harmonic oscillator in the z direction
(about the origin) while the particle moves around the z-axis in a circle, with conserved angular
momentum.
Page 7 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Goldstein 8.26.

A particle of mass m can move in one dimension

under the influence of two springs connected to
fixed points a distance a apart, as shown in Figure 1. The springs obey Hookes Law and have
zero unstretched lengths, and force constants k1
and k2 . Let the coordinate q be the distance the Figure 1: Depiction of the mass and spring sysmass is from the left wall, with the positive di- tem examined in problem #4.
rection to the right. This means the equilibrium
position of the mass is at q = a/2.

4.1

Lagrangian and Hamiltonian.

When the mass is a distance x from the left wall, the left spring is compressed/extended to a length
x while the right spring is compressed/expanded to a length a x, therefore the potential energy
of the system, using the generalized coordinate q, is
1
1
1
1
U = k1 q 2 + k2 (a q)2 = (k1 + k2 )q 2 k2 aq + k2 a2 .
(57)
2
2
2
2
Note the last term is a constant, so the zero point of potential enery can be set so this term is zero
(which will be done). The kinetic energy is the usual T = 12 mq2 . Therefore the Lagrangian and,
using the conjugate momentum to q: p = mq,
the Hamiltonian are given by
1
1
L = mq2 (k1 + k2 )q 2 + k2 aq
(58)
2
2
p2
1
H=
+ (k1 + k2 )q 2 k2 aq .
(59)
2m 2
Note that there is no explicit time dependence in the Hamiltonian or Lagrangian, so the Hamiltonian
is conserved. Additionally, the Hamilontian is easily recognizable as the total energy of the system,
which is also conserved.

4.2

Change of Coordinates.

Consider the coordinate

k2 a
.
(60)
k1 + k2
For the Lagrangian to be written in this coordinate, it can be manipulated starting with Equation 58,
!


1 2 1
k
a
1
1
2
q = mq2 (k1 + k2 ) q 2 + 2bq ,
(61)
L = mq (k1 + k2 ) q 2 + 1
2
2
2
2
2 (k1 + k2 )
Q = q b sin t with b =

noting that the last term in parenthesis can be written as (q b)2 b2 by completing the square.
Again, the zero point of potential energy will be set so the constant term does not contribute.
Therefore the Lagrangian, using the definition of Q can be written
1
1
L = m(Q + b cos t)2 (k1 + k2 )(Q + b sin t b)2
2
2

1  2 2
2
cos t + Q 2 1 (k1 + k2 )(Q + b sin t b)2 .
= m b cos t + 2bQ
2
2

(62)
(63)

Page 8 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

The conjugate momentum to Q is

P =

L
= mQ + mb cos t
Q

P
Q =
b cos t ,
m

(64)

and therefore the Hamiltonian is

 2
1
P2
1
P
+ (k1 + k2 )(Q + b sin t b)2
P b cos t m
m
2
m
2
2
P
k1 + k2
=
P b cos t +
(Q + b sin t b)2 .
2m
2

L=
H = QP

(65)
(66)

Notice now the Hamiltonian has explicit time dependence so it is not conserved. In these coordinates, the total energy is given by
1
P2 1
1

cos t)2 + (k1 +k2 )(Q+b sin tb)2 =

+ (k1 +k2 )(Q+b sin tb)2 ,
E = T +U = m(Q+b
2
2
2m 2
(67)
which also has explicit time dependence, so the energy is not conserved either.

Figure 2: Depiction of the pendulum system and coordinates used in problem #5.

Page 9 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Goldstein 8.19.

The point of suspension of a simple pendulum of length ` and mass m is constrained to move
on a parabola defined by z = ax2 in the vertical plane, in a uniform downwards gravitational
acceleration g. The position of the pivot point in the x z plane is given by (x, ax2 ). Now, let
a coordinate be the angle the pendulum makes with the vertical. The position of the mass is
then (x + ` sin , ax2 ` cos ). So the generalized coordinates for this system are x and , and the
kinetic energy is

2 
2 
1
m 
2
2

(68)
T = m(x + z ) =
x + ` cos + 2axx + ` sin
2
2
i
mh
=
(1 + 4a2 x2 )x 2 + 2`(cos + 2ax sin )x + `2 2 .
(69)
2
Let the zero potential be defined such that when x = = 0, U = 0. Therefore the zero potential
surface is the plane defined by z = `, so the potential energy is
U = mg(` + ax2 ` cos ) .

(70)

With this information, the Lagrangian is

1
1
L = mx 2 + 2ma2 x2 x 2 + m` cos x + 2m`a sin xx + m`2 2 mg` mgax2 + mg` cos , (71)
2
2
so the conjugate momenta are
px = mx + 4ma2 x2 x + m` cos + 2m`a sin x
p = m` cos x + 2m`a sin xx + m`2 .

(72)
(73)

With these the Hamiltonian can be written as

L ,
H = xp
x + p

(74)

Using Mathematica the

so Equations 72 and 73 must be solved simultaneously for x and .
solutions are
`px p (2ax sin + cos )
2ap x sin `px sin2 `px cos2 + p cos
=
2
`m(sin 2ax cos )
`m(sin 2ax cos )2
4a2 p x2 + 2a`px x sin + `px cos p
p (1 + 4a2 x2 ) `px (2ax sin cos )
=
=
,
2
2
` m(sin 2ax cos )
`2 m(sin 2ax cos )2

x =

(75)
(76)

and the Hamiltonian is given by





p (1 + 4a2 x2 ) `px (2ax sin cos )
`px p (2ax sin + cos )
H = p
+ px
L
(77)
`2 m(sin 2ax cos )2
`m(sin 2ax cos )2




p2 4a2 x2 + 1 + 2gl2 m2 ax2 + l cos + l (sin 2ax cos )2 2lp px (2ax sin + cos ) + l2 p2x
=
.
2l2 m(sin 2ax cos )2
(78)
From this the final two of Hamiltons equations (the x and Hamiltons equations are shown above)
can be found,
p =

px =

H
.
x

(79)

Page 10 of 11

Dylan J. Temples

Goldstein : Solution Set Eight

Using Mathematica to take the derivatives of the Hamiltonian, these are




1
p2 4a2 x2 + 1 (2ax sin + cos ) + g`3 m2 sin (sin 2ax cos )3
p = 2
3
` m(sin 2ax cos )

1
2 2
+ ` px (2ax sin + cos ) + `p px (4ax(ax(cos(2) 3) sin(2)) cos(2) 3) , (80)
2
after simplifying,


[p2 4a2 x2 + 1 + `2 p2x ](2ax sin + cos )
p =
+ g`m
`2 m(sin 2ax cos )3
`p px (4ax(ax[cos(2) 3] sin(2)) cos(2) 3)
+
`2 m(sin 2ax cos )3

(81)

and
px =


2a
1
g`2 m2 x(2ax cos sin )3 `p px (2ax sin(2) + cos(2) + 3)
`2 m(sin 2ax cos )3
2

2 2
2
+ p (2ax sin + cos ) + ` px cos , (82)

after simplifying,
2a
px = 2agmx + 2
` m(sin 2ax cos )3

1
`p px [2ax sin(2) + cos(2) + 3]
2

p2 (2ax sin

+ cos ) +

`2 p2x cos


, (83)

The equations of motion can then be found by differentiating Equations 75 and 76 and plugging in
the above results, then substituting in the expressions for p and px .

Page 11 of 11