Abstract
We present Hamilton’s formulation of classical mechanics. In this formulation, the n second-order equations of motion of an n-dimensional mechanical system are replaced by an equivalent set of 2n first-order equations, known as Hamilton’s equations. There are problems where it is favorable to work with the 2n first-order equations instead of the corresponding n second-order equations. After introducing basic concepts from symplectic geometry, we consider the phase space of a mechanical system as a symplectic manifold. We then discuss the relation between Lagrangian and Hamiltonian systems. We show that, with appropriate assumptions, the Euler–Lagrange equations of a Lagrangian mechanical system are equivalent to Hamilton’s equations for a Hamiltonian, which can be obtained from the Lagrangian by a Legendre transformation. In the last part, we consider the linearization of mechanical systems as a way of obtaining approximate solutions in cases where the full non-linear equations of motion are too complicated to solve exactly. This is an important tool for analyzing physically realistic theories as these are often inherently non-linear.
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For example, consider a case with two eigenvalues \(\lambda _1 = 1\), \(\lambda _2 = 2\), and the solution \(q(t) = \sin (t) \xi _1 + \sin (\sqrt{2}\, t) \xi _2\).
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Cortés, V., Haupt, A.S. (2017). Hamiltonian Mechanics. In: Mathematical Methods of Classical Physics. SpringerBriefs in Physics. Springer, Cham. https://doi.org/10.1007/978-3-319-56463-0_3
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DOI: https://doi.org/10.1007/978-3-319-56463-0_3
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-56462-3
Online ISBN: 978-3-319-56463-0
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