Homework 5 Classical Mechanics

Deadline November 6, 2023.

Problem 1. Determine whether the transformation

Q1 = βq1 cos α + p2 sin α, Q2 = βq2 cos α + p1 sin α, (1)
p1 p2
P1 = −q2 sin α + cos α, P2 = −q1 sin α + cos α, (2)
β β
is canonical.
Answer:
From the definition of the Poisson brackets in symplectic notation
{ξ I , ξ J } = ∂K ξ I ω KL ∂L ξ J = ω IJ



(3)
If a restricted transformation ζ I = ζ I (ξ J ), with dependence on the original coordinates but time indepen-
dent, correspond to a canonical transformation the symplectic condition is satisfied.

JΩJ T = Ω
Therefore, for the Poisson bracket of any two functions we see that

{u, v}ξ = {u, v}ζ

i.e, the Poisson bracket is invariant under canonical transformations.
Thus, if the new coordinates Qi (qj , pj ) and Pi (qj , pj ) corresponds to a canonical transformation the follow-
ing condition must be satisfied.

{ξ I , ξ J }ξ = {ζ I , ζ J }ξ = ω IJ
or
{QI , QJ }(pj ,qj ) = {P I , P J }(pj ,qj ) = 0 (4)

{QI , P J }(pj ,qj ) = δIJ (5)

where
∂u ∂v ∂u ∂v
{u, v}(pj ,qj ) = −
∂qj ∂pj ∂pj ∂qj
Calculating the ¨Poisson bracket of the new coordinates we got

{Q1 , Q1 } = {Q2 , Q2 } = {Q1 , Q2 } = 0 (6)

{P1 , P1 } = {P2 , P2 } = {P1 , P2 } = 0 (7)

{Q1 , P2 } = {Q2 , P1 } = 1 (8)

Where the calculations were made by Python and are in the Notebook attached.
∴ The given transformation is a restricted canonical transformation.

1
Problem 2. Use the Canonical transformation generated by
mω 2
F (q, Q) = q cot Q. (9)
2
to solve the harmonic oscillator described by the Hamiltonian

p2 mω 2 2
H= + q . (10)
2m 2
Answer:
If a transformation Qj = Qj (qi , pi ), Pj = Pj (qi , pi ) is said to be canonical if it preserves the canonical
equations, i.e, if the transformed Hamiltonian H ′ = H ′ (Qi , Pi , t) satisfies

∂H ′ ∂H ′
Q̇i = Ṗi = −
∂Pi ∂Qi
from the principle of least action we find that this kind of transformation can be generated by a function
F = F (qi , Qi ) named the generating function for which

dF = pi dqi − Pi dQi + (H ′ − H)dt

such that
∂F ∂F ∂F
pi = Pi = − H′ = H + (11)
∂qi ∂Qi ∂t
Then, for a generating function
mω 2
F (q, Q) =q cot Q (12)
2
which generates a restricted canonical transformation, we have
∂F ∂F mω 2 2
p= = qmω cot Q P =− = q csc Q H′ = H (13)
∂q ∂Q 2
From the first expression we find
p
cot Q =
qmω
while from the second expression, using csc2 Q = 1 − cot2 Q, we get

mωq 2 p2
P = + (14)
2 2mω
Therefore, the transformed Hamiltonian, which is equal to the original, is given in terms of the transformed
coordinates as

H ′ = ωP (15)
Thus, the canonical equations are

∂H ′ ∂H ′
Q̇ = =ω Ṗ = − =0 (16)
∂P ∂Q

∴ Q = ωt + C1 ∴ P = C2 (17)
where C1 , C2 are constants of integration.

2
Problem 3. (a) Prove that the transformation
 
p sin q
Q= , P = log , (18)
tan q p

is canonical. (b) Find the generating function F (q, Q) for this transformation.

Answer:
a) Similarly to problem 1, calculating the Poisson brackets {Q, P },{P, P } and {Q, Q}

{Q, P } = 1 {Q, Q} = {P, P } = 0 (19)

∴ The transformation is canonical

b) For a generating function F (q, Q) we know that
 
∂F ∂F sin q
p= = Q tan q P =− = log , (20)
∂q ∂Q p
Integrating both equations

F (q, Q) = −Q log(cos q) + A(Q) F (q, Q) = −Q log(cos q) + Q(log Q − 1) + B(q) (21)

by inspection we can find A(Q) = Q(log Q − 1) and B(q) = 0.

F (q, Q) = −Q log(cos q) + Q(log Q − 1) (22)

Problem 4. Given the Hamiltonian

H = αp22 + βp21 + p1 q1 − p2 q2 , (23)

Show that the three functions

f1 = (βp1 + q1 )/p2 , f2 = p1 p2 , f3 = p2 exp(−t), (24)

are constants of motion. Are they functionally independent? Do there exist other independent constants of
motion?

Answer:
The total derivative with respect time of a function f = f (t, ξ I ) is given by

df ∂f ∂f ∂ξ I ∂f ∂f
= + I = + (∂I f )ω IJ (∂J H) = + {f, H}
dt ∂t ∂ξ ∂t ∂t ∂t
Therefore, calculating the total derivative of f1 , f2 , f3 using Python we find
df1
= {f1 , H} = 0 (25)
dt

df2
= {f2 , H} = 0 (26)
dt
df3 ∂f3
= + {f3 , H} = 0 (27)
dt ∂t
3
 ∴ f1 , f2 and f3 are constants of motion
We can see that only f1 depends on q1 ⇒ f1 is independent of f2 and f3 , in the other hand only f3 depends
on t ⇒ f3 is independent of f2 and f1 .
∴ All three are independent
dH ∂H
Finally, H does not depend on t so that dt
= ∂t
=0

∴ Exist another constant of motion given by H itself

By the Poisson theorem, we know that if f and g are two integrals of the motion, their Poisson bracket is
likewise an integral of motion.
Calculating the Poisson brackets
{f1 , f2 } = 1 {f1 , f3 } = {f3 , f2 } = 0
we prove that

∴ There exist another three constants of motion given by the Poisson brackets {f1 , f2 }, {f1 , f3 } and {f3 , f2 }
Problem 5. For a system described by the Hamiltonian
H = α|p|n + β|r|−n , (28)
where p is the vector of the momenta conjugate to the Cartesian coordinates r and n is a constant. Show that
there is a conserved quantity given by
p·r
D= − Ht. (29)
n
Are there more independent conserved quantities?
Answer:
In Cartesian coordinates the Hamiltonian is
n −n
H = α(p21 + p22 + p23 ) 2 + β(q12 + q22 + q32 ) 2 (30)
where (q1 , q2 , q3 ) = (x1 , x2 , x3 ).
Defining
p·r (p1 q1 + p2 q2 + p3 q3 )
D= − Ht = − Ht
n n
Thus, if we calculate the Poisson Bracket of D and H
n n
{D, H} = α(p21 + p22 + p23 ) 2 + β(q12 + q22 + q32 ) 2 = H (31)
Therefore,
dD ∂H
= + {D, H} = 0 (32)
dt ∂t
∴ D is a conserved quantity
We can check that
{H, Li } = 0
where Li = ϵijk qj pk is the angular momentum.

∴ The angular momenta along the three axes (Li ) are conserved quantities
And, by the Poisson theorem

∴ The Poisson brackets {D, Li } are conserved quantities

4
Problem 6. For the two-dimensional isotropic harmonic oscillator
p21 p2 mω 2 2 mω 2 2
H= + 2 + q + q , (33)
2m 2m 2 1 2 2
(a) verify that the functions
p1 p2 mωq1 q2 1  2
p2 − p21 + m2 ω 2 (q22 − q12 ) ,

S1 = + , S2 = (34)
2mω 2 4mω
are conserved quantities. (b) Find another constant of motion from the Poisson theorem S3 ≡ {S1 , S2 } and
identify its physical meaning. (c) Determine the Poisson bracket algebra {Si , Sj }, i, j = 1, . . . , 3. (d) Show
that the relation
H2
S12 + S22 + S32 = , (35)
4ω 2
holds.
Answer:
(a) Calculating the Poisson brackets {S1 , H} and {S2 , H} we find

{S1 , H} = 0 {S2 , H} = 0
So that,
dS1 dS2
=0 =0 (36)
dt dt
∴ S1 and S2 are conserved quantities.

(b) From the Poisson theorem we know that {S1 , S2 } is also a constant of motion. Thus

(q1 p2 − q2 p1 )
S3 = {S1 , S2 } = (37)
2
We identified S3 with the angular momentum along the z-axis L3 = ϵ3jk qj pk
1
S3 = L3 (38)
2
∴ Due to the symmetry of the system the angular momentum along the z axis is conserved.
(c) From the calculations made in the attached notebook we find that

∴ {Si , Sj } = ϵijk Sk (39)

(d) Likewise, we find that

2
 pq
1 2 p2 q1 2  mωq1 q2 p1 p2 2 (m2 ω 2 (−q12 + q22 ) − p21 + p22 )
S12
+ S22
+ S32
= − + + + +
2 2 2 2mω 16m2 ω 2
Rewriting and expanding
m2 ω 2 q14 m2 ω 2 q12 q22 m2 ω 2 q24 p21 q12 p21 q22 p22 q12 p22 q22 p41 p21 p22 p42
S12 + S22 + S32 = + + + + + + + + +
16 8 16 8 8 8 8 16m2 ω 2 8m2 ω 2 16m2 ω 2
On the other hand
H2 m2 ω 2 q14 m2 ω 2 q12 q22 m2 ω 2 q24 p21 q12 p21 q22 p22 q12 p22 q22 p41 p21 p22 p42
= + + + + + + + + +
4ω 2 16 8 16 8 8 8 8 16m2 ω 2 8m2 ω 2 16m2 ω 2
Hence
H2
S21 + S22 + S23 = (40)
4ω 2

5
Problem 7. In spherical coordinates the Hamiltonian for a particular system is given by

p2θ p2ϕ
 
1 2 b(θ)
H= pr + 2 + 2 2 + a(r) + 2 , (41)
2m r r sin θ r

where a(r) and b(θ) are arbitrary functions. (a) Write the Hamilton–Jacobi equation and separate variables. (b)
Integrate to find the action S.

Answer:
From Hamilton-Jacobi equation  
∂S ∂S
+ H qi , =0 (42)
∂t ∂qi
∂F
where we use the action S = S(qi , t) as a generating function F = F (qi , Qi , t) (pi = ∂qi
) such that the new
Hamiltonian is equal to zero H ′ = 0 and get trivial solutions for the EOM.

Ṗi = 0 Q̇i = 0
Solving the Hamilton-Jacobi equation
"   2 #
2  2  
1 ∂S 1 ∂S 1 ∂S b(θ) ∂S
+ 2 + 2 2 + a(r) + 2 + =0 (43)
2m ∂r r ∂θ r sin θ ∂ϕ r ∂t

Using separation of variables

S = V (t) + Wr (r) + Wθ (θ) + Wϕ (ϕ) = 0 (44)

note that the four functions V, Wr , Wθ , Wϕ can also depend on constants variables as we shall see below.
Substituting in H-J equation
" 2  2  2 #  
1 ∂Wr 1 ∂Wθ 1 ∂Wϕ b(θ) ∂V
+ 2 + 2 2 + a(r) + 2 = −
2m ∂r r ∂θ r sin θ ∂ϕ r ∂t

We find, by the right side of the equation, that

V(t) = −Et (45)

where we choose the constant of integration as E.

Thus, we can rewrite the equation
 2  2    2
2 2 ∂Wr 2 ∂Wθ 2 2 b(θ) ∂Wϕ
r sin θ + sin θ + 2mr sin θ a(r) + 2 − E = −
∂r ∂θ r ∂ϕ
∂Wϕ
Solving for ∂ϕ
= αϕ , with αϕ = constant

Wϕ = α ϕ ϕ (46)

Again, we substitute in the H-J equation

 2  2
2 ∂Wr 2 2 ∂Wθ αϕ
r + 2mr a(r) − 2mEr = − − − 2mb(θ)
∂r ∂θ sin2 θ

6
We find
 2
∂Wθ αϕ
+ 2 + 2mb(θ) = αθ2 (47)
∂θ sin θ
Finally, we have
2
αθ2

∂Wr
+ − 2m (E − a(r)) = 0 (48)
∂r sin2 θ
(b) We can integrate to obtain the action as
s
2 Z r
α αθ2
Z
ϕ
S = −Et + αϕ ϕ + αθ2 − 2mb(θ) − dθ + 2m (E − a(r)) − dr (49)
sin2 θ r2
With s
αϕ2
Z
Wθ = αθ2 − 2mb(θ) − dθ (50)
sin2 θ
Z r
α2
Wr = 2m (E − a(r)) − 2θ dr (51)
r
Note that Wr and Wθ not depend only on r and θ, they also depend on the constants αθ and αϕ .

S = V(t) + Wr (r) + Wθ (θ) + Wϕ (ϕ) = 0 (52)