60
2 Mon 2005
Fron the Legemgian tb te Hanilbmion Approach Coot)
Give LiTQ@ PAR, we now know 2 coudnele free tag ob describing
the wep
A:TA > TQ
Gor Gap?
gue rn local coordmates by
_ 2 2b
Pi 358
We sy Lm seglar if A is 0 difleomerplism From TA b
Some open subset XST%Q. TL this cape ve con descr ible
whl our system is dong eprally, well by speciFyma posibom &
velocchy +
G4) € TO
or pesibinn & monesbun
Gypy=AGwerX.
We call X the plese space of We systen. Fn prechice
yeTQA, & we La cack tp be shmghy regular .
Exooples = A perdle & 2 Reerenn in mar bold (a5) ood
pelakil Vi Q—SIR hes Lagromrgion
la.g) = 295 3'Q) - VOD
Here
pe py Pngig!61
Maad= Gy 9 (4)
so UC is skegly fegelem shee
7,Q — Ta
v > 9(v,-)
is U2 ob) he He mebic is nedegererle.
Exerple: A guarat relebwishe parhile wilh clege @ ma
eleclronegnebic veclo pilenbiol A has Lagrongion
Usa) 7 593,4'4 - cla
B thas
ee ee
ha Lis shill skmghy regular, bat sow each map
*
Nea’ TQ Tie
44— wg (4) + eAG)
ts 2llre rather thes lmear.
Exenple: The Cee geeal relelwishe poticle wil reproneleizelin-
perk Layregion :
Lad = Vangie
Tis x levitle Can He pers ec live ot cegplathy pafe-bes
rab diffretible shen gi fig) venntes, 2. Jolncdk ahembr
Hes quonbily & negelne! lene it's delned,
al 3)
pot yi 7 Mt
Ta
(here Gi belie), oe can ask shat vequlartly, Ales,
the rep XB wk LL where dofmed smce malbpheg §
by seme mabe hag wg eflect on p! (Ta iz vnbld
fp Ye ceparereterizela. mvemce — fan aluays heppess
ith reperseeleritabn rat, Lagrargiens)
Excorple: Here's 2 Lagrangian thet! reple bE nob
shmoly vegrler. leh QR &
0G,4) > FD
so WA
pe ¥ - 6G)
This esl be raglan bb vol shorgly so iP FOROR
ss 2 diVleameephitm fron Ro by seme prope scbsel Uck.
For erenple, feke Fg =et so FER? @ VCR.
Ss : 4% Cateye
Lay) = e* re
o LU) = Jae ot eae
SEREaL Nee ast)
eke.Nov let's assume Lis vegler, 50
\: TQ XET*Q
4,4) Gp)
Tass Lely es hove the fest of beth wells: we con weakly
TQ with X using 0 This labs us beet 9’, p', &,H, ete.
ail as Fonckms on X Con TA), tas ucihng
ve (fn a Ta)
Be He Fanebion
ged” (ro)
Tr pehelar
bp 2
P= 38 (EnlerLagenye eq)
whedh is really 2 Gm TA, will be becled 2g o fh oh X,
Noo , let's catealae =
= Midi, 2 yi
dl > yet 3
= pdq + pidgi
while
aH = d(pigi -L)
= aides + pidg’ de
= 4p: + pidgi (py + pidq')
= g'dp, = ids!
63oo
4 May 2005
Assume the Lagrmajan LiT@ Ris requlor, so
A: TQ -™9 XETQ
Gt Gpd
is 2 diffeomorphic. This lets us regard both Lo oval the
Homiltoaion H= pagel as frechions on the phose space X,
and use ha) as local coordinates on X. Ag we
sow last tme., this gives us
AL. = Bj doi + pidg!
dH = ap; oa pide’ e
But we can also work ont AL| divectly, this time using
local coord inahes GPa), b get
= ath go y GH yi
dH 3p: dp; + agi da .
Since dpi, dat form a bosis of I-frns, we eonckede :
tie 2H 5 - - aH Hameton's
Lo Op; Pi oq EquationsThoagh gi and py are just brchons of X, wher te
E-L egualions hold fr some perk q:lt.,£1— Q, Hey
will be the frre derivahves of of ad pp. Souler
the E-L equelions boll, Homiltn's eguaims desenbe
the rmolion of a pert xlt) = (git), ploeX. Ty
fact, Homilton's eguabions are jest He Baler -le
FOrGR
equaling ny disguise : the equation
gi. aH
a 3:
really jast lets us recover the vebcity 4 as 4 function of
QE py invertre the Frmula
= ak
P= og
a gee p ase fa. of q 84. So we get 2 Gemuls
YX TQ
Gpr> (np
Given this, phe other Hamilton en
«i — oH
Pi aq
is secretly the E-L eqn
lg EeeaaUeee ee geeaee ECE
dt a4 ~ “eq! PE 35k
These are. the some becouse ar aq (pai - Ly=Example: A porkele mm QR" ine potential Vi ROR.
This bos Legyorgion LG,Q)= ZIG VG), which gies
sty , oP :
pany Sener = 28)
and Homi ion
Hyp) = pgi-L = Lapp-( 20 -v)
2m
a
m
t Ip? +VQ).
So Hemi lion's equokions sey
pe-W
The Gest pat recwes 4 ase Frclinn of ps he second
3h
is P=mea-
Homilies eqns posh us busrd the viewpent sere pea bene
equal stots as coorduales on the phase space x. Soon, we'll
Arop the, requiverest thet XET#Q whee Qi a
ConRigueabion space. X will jst bes monifyld eqnipped
wily Crongh skucwre ty wile down Hamil e's eqns starhna
From, any Hi XR.ey
The coordinake- Fee description of this ctructwe is He
mapr 20% contary conlvibubion ty mechanics: a sympleche
shrcture
Hawn lion's equations From the Poneiple of Least Action
Belwe, ue obtired He E-L eqns by assscislny on
‘acho Sb any gi Lh,t.1—> Q and settg 55-0.
Nonw let's get Hseniltn eqns dvectly by easigamg 29
ache, Sb any path x: [ttJ—3>X ad
setts $S=0. Noles me don't impose aay rebohin
bebueer p 8 9,4! The relebar will rilow Pom 85-0.
6 May 005
Let P be the space of paths in the phase space X ond
defre He achon
SP - OR
7
So) = {I (pqi-H) at
here pidi-H= Ll Move preciely write onr path x as
xl) = (qld), ple) and let
S60 = [Geo HIO- AGL, rl) at
by
a9
(we uribe Jeph mslerd of gt bh enplorrze Hub we neon He fre
derwalve vatter than 3 cordnsle in ple spre
Let's sh §S=O > Honillm's equals:
$= 5{(pa'- Hae
7 [Graé + piS@i - $H) at yw ee
= | (Spat — paSqi - SH) ae cc
“J ~ Bop Mp) at
“bie -80 + pe)
This varistes YW $x = (Sq,$p) if ad oaly F Hamilten’s
equaliess «
zi 2 a _- a
Opi Pi= ~ qi
bold .
Welve seer two prrciples of least achon +
") be paths om conligueatin spre Q, $920 => E-L ems
2 Ge paths m phase spxe X $S=0 => Havil ben’, en's
Add: eally, seco XS TQ, ve might eonider a thea vesion
based on paths om posi bon - veloc spe TQ. Bat when our70
Leagrargion is regio, se hove 2 difleowarphim Ai TAX,
th tid prosiple of least achon is jest 2 relrevulabin of
Hever, Me szaly mleresheg prreiple of eos!
ackon involves paths n the extended phase space where
we hve an addihmal coodmeke be tine: XxR.
Recall the achien
Sle) = (Goa! -H) at
= { paiat - Hat
“| pide - Hat
We can interpre! He mleyra as e t-Focmn
B= pied! - Hdt
On XR, wkd has coordrole s Pigit. S oy pit
x:Ut,t]-> X
gree 2 pale
eo: [4,4] —2X-R
4 H— > (xit)t)
ard the achon becomes the beget of » ben over 2 curve:
Sle) = | pide! - Hat = [2