Hamiltonian

The Hamiltonian is given by

$H(q,p,t)={\dot {q_{i}}}p_{i}-L(q,{\dot {q}},t)$

where Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle q_i} are the generalised coordinates, Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle p_i} are the canonical momentum, and L is the Lagrangian.