Hamiltonian

The Hamiltonian is given by

Failed to parse (Conversion error. Server ("https://wikimedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle H(q,p,t)={\dot {q_{i}}}p_{i}-L(q,{\dot {q}},t)}

where $q_{i}$ are the generalised coordinates, $p_{i}$ are the canonical momentum, and L is the Lagrangian. Using the Hamiltonian function, the equations of motion can be expressed in the so-called canonical form:

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 \dot{p_i} = - \frac{\partial H}{\partial q_i}}

and

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 \dot{q_i} = \frac{\partial H}{\partial p_i}}