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Lecture 39

The document discusses cyclic or ignorable coordinates in Hamiltonian mechanics, which do not appear in the Hamiltonian function. If a coordinate is cyclic, its corresponding momentum is conserved, and the number of differential equations that must be solved is reduced. Cyclic coordinates allow problems with one or more degrees of freedom to be more easily solved using the Hamiltonian formulation compared to the Lagrangian formulation.

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84 views15 pages

Lecture 39

The document discusses cyclic or ignorable coordinates in Hamiltonian mechanics, which do not appear in the Hamiltonian function. If a coordinate is cyclic, its corresponding momentum is conserved, and the number of differential equations that must be solved is reduced. Cyclic coordinates allow problems with one or more degrees of freedom to be more easily solved using the Hamiltonian formulation compared to the Lagrangian formulation.

Uploaded by

thrw3411
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Cyclic or Ignorable Coordinates

In the Hamiltonian Formulation, the generalized coordinate qk


& the generalized momentum pk are called Canonically
Conjugate quantities.

Hamiltons Equations are:


qk = (H/pk); pk = - (H/qk)

(1)

In the (often occurring) case where H does not contain a


particular qk, then, by (1), the corresponding pk = 0 & pk =
constant or pk is conserved (is a constant or an integral of the motion)
Coordinates qk not appearing in the Hamiltonian H are called

Cyclic or Ignorable Coordinates

Note that, if qk is a cyclic coordinate (not appearing in the Hamiltonian


H) it also will not appear in the Lagrangian L! However, in general, the
corresponding generalized velocity qk, will still appear in L.

L = L(q1,..,qk-1,qk+1,qs,q1,.qs,t)
The number of degrees of freedom s in Lagrangian Mechanics
will not be changed.
We still must set up & solve s 2nd order differential equations!

However, as we discuss now, in Hamiltonian Mechanics, a cyclic


coordinate reduces the complexity of the math by reducing the number of
differential equations we have to deal with. This, in fact is one of (the only)
advantages of Hamiltonian Mechanics over Lagrangian Mechanics!

In the Hamiltonian (canonical) formulation of


mechanics: If qk is a cyclic or ignorable coordinate:
pk = constant k
H = H(q1,..,qk-1,qk+1,..qs,p1,..pk-1,k,pk+1,. ps,t)
It is only necessary to solve 2s - 2 1st order differential
equations. This means an (effective) reduction in
complexity to s-1 degrees of freedom
In this case, the cyclic coordinate qk is completely separated.

qk is ignorable as far as rest of solution for the dynamics


of the system is concerned.

If qk is cyclic pk = constant k
We can calculate the constant k from the initial conditions. Then we
can compute the cyclic coordinate by solving a simple differential
equation:
qk = (H/pk) = (H/k) k(t)

Given the initial conditions, this integrates to give:


qk(t) = k dt
The Hamiltonian Formulation is well suited (much better than the
Lagrangian formulation!) to solve problems with one or more cyclic
coordinates.
My Opinion: This is one of the FEW CASES where the Hamiltonian method is
superior to the Lagrangian method.

Its worth noting: the fact that the Hamiltonian Formulation is


well suited to solve problems with cyclic coordinates has led to
the development of still other formulations of mechanics!
For example, it can be shown that it is always possible to find
transformations of the coordinates such that in the new
coordinate system, ALL coordinates are cyclic! (None are in
the Hamiltonian!)

This is another formulation of mechanics called the


Hamilton-Jaocbi formulation.
It forms the foundation of some modern theories of matter & is beyond
the scope of the course. See Goldsteins graduate mechanics text.

Example 7.12
Use the Hamiltonian
method to find the
equations of motion for
the spherical pendulum of
mass m & length b.
(Figure). Worked on the
board!

Brief Comments on Dynamical Variables &


Variational Calculations in Physics Sect. 7.11
Skip most discussion in class. Read the details on your own!

Recall: We got Hamiltons Equations from Lagranges Equations. We got


Lagrange Equations from Hamiltons Principle & the calculus of variations
applied to
L(qj,qj,t) dt = 0 where L = T - U
The authors show that we can get Hamiltons Equations directly from
Hamiltons Principle & the calculus of variations applied to: L(qj,qj,t) dt
= 0 where
L j qj (L/qj) H. Or: L j qj pj - H & by letting qj & pj be varied
independently. (See Eqtn (7.189), p 273).

Hamiltonian Dynamics: Treats the generalized coordinates qj & the generalized momenta, pj
as independent. But they arent really so, in the true sense!
If the time dependence of each coordinate qj(t) is known, then we have completely solved the
problem!
We can calculate the generalized velocities from:
qj(t) [dqj(t)/dt]
(1)
& We can calculate the generalized momenta from:
pj(t) [L(qj,qj,t)/qj] (2)
Bottom Line: qj & qj are related by a simple time derivative (1), independent of the manner in which
the system behaves. On the other hand, the relations between qj & pj (Hamiltons Eqtns) are eqtns of
motion themselves! Finding the relations between qj & pj is equivalent to solving the problem!

Phase Space Sect. 7.12


Skip most discussion in class. Read details on your own!
For a system with s degrees of freedom (many particles). Consider an
abstract 2 s dimensional Hamiltonian phase space in which s
generalized coordinates qj & s generalized momenta pj are represented
by a single point.
phase space density = # points per unit (2s dimen.) volume

The authors prove Liouvilles Theorem


(d/dt) = 0

= constant
Proved using Hamiltonian dynamics. Cannot use Lagrangian dynamics
(Liouvilles Theorem is not valid in qj - qj configuration space).
This is important in statistical mechanics, in which is the many
particle distribution function!

Virial Theorem Sect. 7.13


Skim discussion. Read more details on your own!

Consider a many particle system. Positions r & momenta p.


Bounded. Define: S rp
Take the time derivative of S:
(dS/dt) = [(dr /dt)p+ r (dp /dt)]

(1)

The time average of (dS/dt) in the time interval :


(dS/dt)ave (1/ ) (dS/dt)dt (0 < t < )
(2)
(dS/dt)ave = [S() - S(0)]/
If the motion is periodic with period :
S() = S(0); (3) (dS/dt)ave = 0

(3)

Now some manipulation! If the system motion is not periodic, we can


still make (dS/dt)ave = (S)ave as small as we want by taking very large.
Either for a periodic system or for a non-periodic system with large
we can (in principle) make (S)ave = 0. When (S)ave = 0, (understood to be
the long time average) (1) & (2) combine to give:
- [(dp/dt)r]ave = [ p(dr/dt)]ave (4)
Now, use the KE theorem from before: On the right side of (4) we
can write: p (dr/dt) = 2T so the right side of (4) becomes:
=
[2 T ]ave = 2[T]ave
(5)

Here T = KE of particle & T = total KE of the system


Newtons 2nd Law: (dp/dt) = F = force on particle the left side
of (4) is = -[(Fr)]ave (6)

Combine (5) & (6):

[T]ave = - () [(Fr)]ave (7)

The Virial Theorem


- () [(Fr)]ave The Virial
The time average kinetic energy of a system is
equal to its virial
Application to Statistical Mechanics: See Example 7.14.

[T]ave = - () [(Fr)]ave The Virial Theorem


Application to classical dynamics: For a conservative system in which
a PE can be defined: F - U

[T]ave = - () [(Ur)]ave
In the special case of a Central Force, in which (for each particle ):
|F| rn, n any power & r = distance between particles
U=k
rn+1
Ur = (dU/dr)r =k(n+1) rn+1 or: Ur = (n+1)U

The Virial Theorem gives:


[T]ave = ()(n+1) [U]ave
Conservative Central forces ONLY!

Virial Theorem, Conservative Central Forces:


(F(r) = k rn , U(r) = k rn+1)

[T]ave = ()(n+1) [U]ave


Example 1: Gravitational (or Coulomb) Potential:
n=-2
[T]ave = - () [U]ave
Example 2: Isotropic Simple Harmonic Oscillator Potential:
n=+1
[T]ave = [U]ave
Example 3: n = -1
[T]ave = 0 !
Example 4: n integer (say, real power x):
n=x

[T]ave = () (x+1) [U]ave

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