:

:

:

:

:

:

(x; y)

(r; )

#
r = x x + y y
#
r 2 = x2 + y2
#
v = #
r = x x + y y
#
v 2 = x 2 + y 2
#
= #r = xx + yy

#
r = r r
#
r 2 = r2
#
v = #
r = r r + r  
#
v 2 = r 2 + r 2  2




#
= r r  2 r + 2r  + r  

(x; y; z)

(r; ; )

#
r = x x + y y + z
z
#
2
2
2
r = x + y + z2
#
z
v = #
r = x x + y y + z
#
2
2
2
2
v = x + y + z

#
r = r r
#
r 2 = r2
#
v = #
r = r r + r   + r sin   
#
v 2 = r 2 + r2  2 + r 2 sin2   2 
#

=
r r  2 r  sin2  r +


2r  2 + r  r  2 sin  cos  
+


2r   + 2r  sin  + r  sin  

#
= #r = xx + yy + zz

(r; ; z)
:

:

:

#
r = r r + z
z
#
r 2 = r 2 + z2
#
z
v = #
r = r r + r   + z
#
2
2
2
2
2

v = r + r 
+ z


#
= r r  2 r + 2r  + r   + zz

qi .
, qi = x; y; z, qi = r; ; z.

Lagrangian
Lagrangian :
L=T

(1)

T V .

Euler Lagrange
Euler Lagrange
:


d @L
@L
=0
(2)
@qi
dt @qi

pi =

@L
@qi

(3)

pi =

@L
@qi

(4)

S=

tB

(5)

Ldt
tA

Hamilton
tA ,
tB , (S ) .

df (q; t )
q;
t ) = L(q; q;
t) +
L(q;
(6)
dt
t ) ,
Lagrangian L(q; q;
q;
t ) .
Lagrangian L(q;

Lagrangian /
, Lagrangian q m ,
#
A , :
1 2
#
x + q A #
x
L = m #
2

(7)

q

Lagrangian Hamiltonian
Hamiltonian H (p; q) :
H =

pi qi

(8)

@H
@qi

(9)

Hamilton
@H
; pi =
@pi

qi =

Poisson
Poisson :

X
A; B =
i

@A @B
@qi @pi

@A @B
@pi @qi

(10)

A(q; p) :

, A(q; p; t ), :

dA
= A; H
dt

(11)

dA
@A
=
+ A; H
dt
@t

(12)

, ,
2