Hamilton’s Equations and the Hamiltonian

IF all the forces are conservative so that Qk = -V/qk, AND IF V is not a function of
velocities, only positions, so V/qk’ = 0, then we define what is called the:
LAGRANGIAN: L = T - V .
and Lagrange's equation of motion is: d/dt[L/qk’] - L/qk = 0 .

Basic Idea: Recall that L is a function of the qk, the qk’ and t: L(qk,qk’,t). In principle, from
pk = L/qk’, we could find pk(qk’,qk), then find qk’(pk,qk), and then get a new function, H, where
H(qk,pk,t).

To do this, consider: dL = Σk{(L/qk’)dqk’ + (L/qk)dqk} + (L/t)dt.

From the definition of generalized momentum: pj = T/qj’ and with V not a function of the
qj’, we have pj = T/qj’ = L/qj’ = pj , and from Lagrange's Eq: d/dt[L/qk’] - L/qk =
0, or L/qk = d/dt[pk] = pk’ ,

so we can write: dL = Σk{pkdqk’ + pk’dqk} + (L/t)dt.

Now we define the Hamiltonian, H, as: H = Σkpkqk’- L

so that
dH = Σk(dpkqk’ + pkdqk’) - dL = Σk(dpkqk’ + pkdqk’) - Σk{pkdqk’ + pk’dqk} - (L/t)dt

and canceling the second and third terms gives: dH = Σk{dpkqk’ – pk’dqk} - (L/t)dt .

But since H = H(qk,pk,t), we have: dH = Σk{(H/qk)dqk + (H/pk)dpk} + (H/t)dt.

From the above two expressions for dH we can identify the following equations, called

Hamiltonian Equations of Motion:

H/pk = qk’ , H/qk = -pk’ , and H/t = -L/t .

The first equation in integral form gives:

qk(t) - qk(0) = (H/pk)dt .

In the special case of an ignorable coordinate, (qk does not appear), the second equation gives:

H/qk = -pk’ , so pk = constant if qk does not appear in H.

Further, let's consider dH/dt:

dH = Σk{(H/qk)dqk + (H/pk)dpk} + (H/t)dt .

so
dH/dt = Σk{(H/qk)qk’ + (H/pk)pk’} + (H/t) ,

and using the Hamiltonian equations, H/pk = qk’, H/qk = -pk’, and H/t = -L/t we have:

dH/dt = Σk{-pk’qk’ + qk’pk’} + H/t = H/t = -L/t = dH/dt .

As mentioned above, the function, H, is called the Hamiltonian function, and it is a function of
the qk's, the pk's and time.

Important Note: IF V is NOT a function of the qk' (normal situation), AND IF the qk are NOT
a function of time explicitly [often normal situation: qk = qk(x1, x2, …, x3N) but not qk = qk(x1, x2, …,x3N,t) ] ,
THEN, since

a) T = ΣkΣ{½Akqk’q’} + Σk{Bkqk’} + To ,
but here Bk = 0 and To = 0 (since any partial with respect to time is zero), so we have
T = ΣkΣ{½Akqk’q’} ;

b) pk = L/qk’ ,
but here V is not a function of the qk’, so
pk = L/qk’ = T/qk’ = Σ{Akq’}
since the Bk = 0;

c) so pkqk = Σ{Akq’}qk ;

d) so Σkpkqk’ = ΣkΣ{Akq’}qk’ = 2T ;

e) so H = Σkpkqk’- L = 2*T – (T-V) = T+V = E , which means

H = E, the energy of the system.