Summary of previous lecture

Definition of H :

H  H (q j , p j , t )   p j q j  L(q j , q j , t )
j
Significance of H :
Either H  T V
Or H  cons tan t

H H
Hamilton’s equations of motion q j  & p j  
p j q j

H L

t t
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 Derivation of HCEM :
(1) From Hamilton’s Variational Principle
(2) From Legendre’s Transformation
From Hamilton’s Variational Principle


t2
Hamilton’s variational principle stated as  I   L(q j , q j , t ) dt  0
t1

  Ldt    Ldt   L  (dt )  0

t2 t2 t2

t1 t1 t1
t2 t2 In Hamilton’s principle:
or ,   Ldt   L d ( t )  0 1) Variation of time is zero i.e. 𝛿t=0
t1 t1
2) Variation of coordinates at the end points is zero.
t2
or ,   Ldt  0 …………….. (1)
t1

From definition of Hamiltonian

H   p j q j  L  L   p j q j  H
 L   p j q j   q j p j   H
 H H H 
  p j q j   q j p j    qj    pj  t 
5/26/2020  q j p j t  2
 d H H H
 L   pj ( q j )   q j p j    qj    pj  t
dt q j p j t
H H
   p j q j    p j q j   q j p j  
d
   qj    p j ; ( t  0)
dt q j p j
d  H   H  
  L     p j q j    p j 
   q j   q j 
   p j  ……. (2)
 dt  q j p j 
   
By substituting 𝛿L from (2) in (1) :
d  H   H  
t1   dt  p j q j    q j  p j   p j   p j  q j   q j  dt  0
t2

     
 H   H  
or ,  p j q j     q j 
t2 t2
  p j   p j    q j  dt  0
t1 t1 
 
p j   q j  

 H   H  
or ,    q j 
t2
  p j   p j    q j  dt  0 ……. (3)
t1
   p   q  
5/26/2020   j   j  3
 Since 𝛿pj and 𝛿qj are arbitrary and independent with each other, their
coefficients in eq.(3) must vanish separately,
H H
q j   0  q j 
p j p j
H H
p j   0 pj  

q j q j
Which are the required HCEM. They constitute a set of 2n first order differential
equations replacing the n second order equations of Lagrange. They are applicable to
holonomic conservative system.

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 From variational principle (Goldstein P.353)

 I    L(q j , q j , t ) dt  0 Variational principle in configuration space

t2

t1

But we have H   p q
j j L  L   p j q j  H

I   p q
t2
j j  H (q j , p j , t ) dt  0 Variational principle in phase space
t1 (modified Hamilton’s Principle)
The modified Hamilton’s Principle is exactly of the form of variational problem
in a space of 2n-dimensions.Thus we can write

 I    f (q j , q j , p j , p j , t ) dt  0
t2

t1

Where

f (q j , q j , p j , p j , t )   p j q j  H (q j , p j , t )

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 Which gives 2n Euler-Lagrange’s equations as:

d  f  f
   0 j  1, 2,......., n ………………(1)
dt  q j  q j
d  f  f
   0 j  1, 2,......., n ………………(2)
dt  p j  p j

Using f in eq.(1) and (2), We get respectively:

H H
p j   0 pj  
 ………………(3)
q j q j
H H
q j   0  q j  ………………(4)
p j p j
Eq.(1) and (2) are exactly Hamilton’s equation of motion. The Euler-Lagrange
Equations of the modified Hamilton’s Principle are thus the desired canonical
equation of motion.
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 From Legendre’s Transformation
Legendre’s tranformation:
* Duality of transformation between function and variables
* Transformation in configuration space (point transformation) and phase
space(canonical transformation)
* Both point(coordinate) and path(line) are transformed

Transformation
f ( x, y)  g (u, y) Where, y = passive variable
x & u = active variable

For the transformation, f ( x, y)  g (u, y) , according to Legendre’s

transformation, If u=𝝏f/𝝏x , then new function will be g = ±(ux-f )
Similarly for the transformation, g (u, y)  f ( x, y) , according to Legendre’s
transformation, If x=𝝏g/𝝏u , then new function will be f = ± (xu-g)

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 To transform Lagrangian to Hamiltonian L(q j , q j , t )  H (q j , p j , t )
We use Legendre’s transformation.
Here,q j & t are passive variables andq j & p j are active variables.
L
p 
Then according to Legendre’s transformation, if j q ………. (1)
j

Then new function H will be H (q j , p j , t )   p j q j  L(q j , q j , t ) ………. (2)

j
H ………. (3)
Differentiating eq. (2) w.r. to pj  q j
p j
H L d  L 
Differentiating eq. (2) w.r. to qj       p j ………. (4)
q j q j dt  q j 

Differentiating eq. (2) w.r. to t : H   L ………. (5)

t t
Eq.(3) and Eq.(4) are the required HCEM.

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 Integrals and Hamilton’s equations

Q.1. If a given coordinate is cyclic in Lagrangian, it will also be cyclic

in Hamiltonian.
Suppose given coordinate qj is cyclic, then
L
0
q j
p j  0  p j  cons tan t

But if pj is constant, then

p j  0
H
Using Hamilton’s equation of motion, p j  
H H
q j
 0 0
q j q j

Which shows that qj is also cyclic in H.

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Q.2. If L does not involve time t explicitly, then both L & H are conserved.
 
We have H  H q j , p j , t , total time derivative of H:
dH H H H
 qj  
 pj 

dt q j p j t
H H
Using the Hamilton’s Canonical equation of motion :   
p &  q j
q j p j
j

dH H H
  p j q j   q j p j   ………… (1)
dt t t
H L ………… (2)
But 
t t
From (1) and (2),
dH L
 ………… (3)
dt t
L
If L does not involve t, then 0
t
dH
Now from eq.(3)  0  H  cons tan t ( conserved )
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 Applications :
Method to solve mechanical problem:
1) Construct Lagrangian, L= T-V 𝛳
2) Calculate generalized momentum & then generalized velocity
3) Construct Hamiltonian in term of momentum,H   p j q j  L l cos𝛳 l
4) Calculate equation of motion using HCEM

m
Simple Pendulum
1
(1) L  T  V  ml 22  mgl (1  cos  )
2
L p Mean position of the bob
(2) p    ml 2    2 (Reference point)
 ml
(3) H   p j q j  L  T  V
1 
 p   L  m 2l 2 2   ml 2 2  mgl (1  cos  ) 
2 
1
 ml 2 2  mgl (1  cos  )
2
2
1 2  p  p2
 ml  2   mgl (1  cos  )   mgl (1  cos  )
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2  ml  2 m 11
  H p ……………(i)
(4)   2
p ml
H
p    mgl sin  ……………(ii)

Finally, differentiating eq.(i) w.r.t. time and substituting p from eq.(ii)
ml 2  mgl sin  ,Since 𝛳 is very small, then

 g  g
    0       0,
2
   t  2 l / g
2

l l

Equation of motion of simple pendulum Time period of simple pendulum

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 Compound Pendulum

(1) L  T  V  1 I 2  (mgl cos  )

2 Reference point O
1 𝛳
 I 2  mgl cos 
2 G
L   p
(2) p 
  I    mg
 I
(3) H   p j q j  L
1 
 p   L  I 2   I 2  mgl cos  
2 
1
 I 2  mgl cos 
2
 T V
2
1  p  p2
 I    mgl cos    mgl cos 
2  I  2I

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  H p ……………(i)
(4)  
p I
H
p    mgl sin  ……………(ii)

Finally, differentiating eq.(i) w.r.t. time and substituting p from eq.(ii)

I  mgl sin 

mgl mgl
    0     2  0, 2   t  2 I / mgl
I I

Equation of motion of compound pendulum Time period of compound pendulum

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