EP 222: Classical Mechanics

Tutorial Sheet 8: Solution

This tutorial sheet contains problems related to canonical transformations, Poisson brack-
ets etc.
1. One of the attempts at combining two sets of Hamilton’s equations into one tries to
take q and p as forming a complex quantity. Show directly from Hamilton’s equations
of motion that for a system of one degree of freedom the transformation

Q = q + ip, P = Q∗

is not canonical if the Hamiltonian is left unaltered. Can you find another set of
coordinates Q0 and P 0 that are related to Q, P by a change of scale only, and that are
canonical?
Soln: A given transformation is canonical if the Hamilton’s equations are satisfied in
the transformed coordinate system. Therefore, let us evaluate ∂H∂Q
and ∂H
∂P

∂H ∂H ∂q ∂H ∂p
= +
∂Q ∂q ∂Q ∂p ∂Q
∂H ∂H ∂q ∂H ∂p
= +
∂P ∂q ∂P ∂p ∂P
Using the fact that canonical variables (q, p) satisfy Hamilton’s equations, we obtain
∂H ∂q ∂p
= −ṗ + q̇
∂Q ∂Q ∂Q
∂H ∂q ∂p
= −ṗ + q̇
∂P ∂P ∂P
Given the fact that
1
q = (P + Q)
2
i
p = (P − Q),
2
we have
∂q ∂q 1
= =
∂Q ∂P 2
∂p ∂p i
=− =−
∂Q ∂P 2
Substituting these above, we obtain
∂H 1 i i i
= − ṗ − q̇ = − (q̇ − iṗ) = − Ṗ
∂Q 2 2 2 2
∂H 1 i i i
= − ṗ + q̇ = (q̇ + iṗ) = Q̇
∂P 2 2 2 2

1
 Thus, Hamiltonian H expressed in terms of Q and P does not satisfy the Hamilton’s
equations, making the transformation non-canonical. Let us scale these variables to
define Q0 = λQ, and P 0 = µP , so that

∂H ∂H ∂Q iṖ i
0
= 0
=− =− Ṗ 0
∂Q ∂Q ∂Q 2λ 2λµ
∂H ∂H ∂P iQ̇ i
= = = Q̇0 .
∂P 0 ∂P ∂P 0 2µ 2λµ

If we choose λ and µ such that λµ = 2i , the Hamilton’s equations will be satisfied in

variables Q0 and P 0 , and the transformation will become canonical. One choice which
will achieve that is
i1/2 (1 + i)
λ=µ= √ =
2 2
2. Show that the transformation for a system of one degree of freedom,

Q = q cos α − p sin α
P = q sin α + p cos α,

satisfies the symplectic condition for any value of the parameter α. Find a generating
function for the transformation. What is the physical significance of the transformation
for α = 0? For α = π/2? Does your generating function work for both the cases?
Soln: We will check the symplectic conditions using the order of variables
 
q
η=
p
 
Q
ζ= ,
P

with this
!
∂Q ∂Q
∂q ∂p
M= ∂P ∂P
∂q ∂p
 
cos α − sin α
=
sin α cos α

Now we check the two symplectic conditions

   
T cos α sin α 0 1 cos α − sin α
M JM =
− sin α cos α −1 0 sin α cos α
sin2 α + cos2 α
 
sin α cos α − sin α cos α
=
− sin2 α − cos2 α sin α cos α − sin α cos α
 
0 1
= =J
−1 0

2
 Thus, symplectic condition 1 is satisfied. Similarly, it is easy to verify that the second
symplectic condition M JM T = J is also satisfied for all values of α, making the
transformation canonical. Let us try to find a generating function of the first type,
i.e., F1 (q, Q) for the transformation. The governing equations for F1 are
∂F1
p=
∂q
∂F1
P =−
∂Q
Using the transformation equations, we can express both p and P in terms of q and
Q, as follows
p = q cot α − Q csc α
P = q sin α + p cos α = q sin α + (q cot α − Q csc α) cos α
cos2 α
=⇒ P = q( + sin α) − Q cot α = q csc α − Q cot α.
sin α
Now we integrate the generating equations
∂F1
= p = q cot α − Q csc α
∂q
q2
=⇒ F1 = cot α − Qq csc α + f (Q).
2
∂F1
Using this in the second generating equation for F1 , ∂Q
= −P , we obtain

df
−q csc α + = −q csc α + Q cot α
dQ
df
=⇒ = Q cot α
dQ
Q2
=⇒ f (Q) = cot α,
2
leading to the final expression for generating function
1 2
q + Q2 cot α − Qq csc α.


F1 (q, Q) =
2
Let us consider α = 0, which is nothing but the identity transformation, and our
F1 is indeterminate for that case. This is understandable because we know that this
transformation is generated by F2 = qP . We would have got the correct limiting
behavior for this case if we had instead used F2 generating function. For α = π/2, we
have the interchange transformation, and our generating function becomes F1 = −qQ,
which is the correct result.
3. Show directly that the transformation
 
1
Q = log sin p , P = q cot p
q

3
 is canonical.
Soln: We need to just check one of the symplectic conditions, with
!
∂Q ∂Q
∂q ∂p
M= ∂P ∂P
∂q ∂p

− 1q
 
cot p
= .
cot p −q csc2 p
Now we check the symplectic condition
− 1q − 1q
   
T cot p 0 1 cot p
M JM =
cot p −q csc2 p −1 0 cot p −q csc2 p
− 1q cot p −q csc2 p
   
cot p
= 1
cot p −q csc2 p q
− cot p
cot p
− cotq p csc2 p − cot2 p
   
q 0 1
= = =J
−(csc2 p − cot2 p) −q csc2 p cot p + q csc2 p cot p −1 0
Because the symplectic condition is satisfied, the transformation is canonical.
4. Show directly that for a system of one degree of freedom the transformation
αq 2 p2
 
αq
Q = arctan , P = 1+ 2 2
p 2 α q
is canonical, where α is an arbitrary constant of suitable dimensions.
Soln: We will just check one of the symplectic conditions, with
!
∂Q ∂Q
∂q ∂p
M= ∂P ∂P
∂q ∂p
 αp αq 
p2 +α2 q 2
− p2 +α 2 q2
= p .
αq α

Let us check the symplectic condition

 αp    αp αq 
T p2 +α2 q 2
αq 0 1 2
p +α q 2 2 − 2 2
p +α q 2
M JM = αq p p
− p2 +α 2 q2 α
−1 0 αq α
 αp  
p2 +α2 q 2
αq αq p/α
= αq p αp αq
− p2 +α 2 q2 α
− p2 +α 2 q2 p2 +α2 q 2
! 
α2 pq−α2 pq p2 +α2 q 2 
2
p +α q2 2 2 2
p +α q 2 0 1
= 2 +α2 q 2 = = J.
− pp2 +α 2 q2
pq−pq
p2 +α2 q 2
−1 0

Thus the transformation is canonical.

5. The transformation between two sets of coordinates are
Q = log(1 + q 1/2 cos p),
P = 2(1 + q 1/2 cos p)q 1/2 sin p.

4
(a) Show directly from these transformation equations that Q, P are canonical vari-
ables if q and p are.
Soln: We will just check one of the symplectic conditions, with
!
∂Q ∂Q
∂q ∂p
M= ∂P ∂P
∂q ∂p
cos p q 1/2
sin p
!
2q 1/2 (1+q 1/2 cos p)
− (1+q 1/2 cos p)
= (1+2q 1/2 cos p) sin p
,
q 1/2
2q 1/2 (cos p + q 1/2 cos 2p)
so that
(1+2q 1/2 cos p) sin p
cos p
! 
T 2q 1/2 (1+q 1/2 cos p) q 1/2 0 1
M JM = q 1/2 sin p
− (1+q 1/2 cos p) 2q 1/2
(cos p + q 1/2
cos 2p) −1 0
cos p q 1/2
sin p
!
2q 1/2 (1+q 1/2 cos p)
− (1+q 1/2 cos p)
× (1+2q 1/2 cos p) sin p
q 1/2
2q 1/2 (cos p + q 1/2 cos 2p)
(1+2q 1/2 cos p) sin p
cos p
!
2q 1/2 (1+q 1/2 cos p) q 1/2
= q 1/2 sin p 1/2 1/2
− (1+q1/2 cos p) 2q (cos p + q cos 2p)
(1+2q 1/2 cos p) sin p
!
q 1/2
2q 1/2 (cos p + q 1/2 cos 2p)
× cos p q 1/2 sin p
− 2q1/2 (1+q 1/2 cos p) (1+q 1/2 cos p)

Upon multiplying the two matrices on the right hand side, we obtain the desired
result  
T 0 1
M JM = =J
−1 0
(b) Show that the function that generates this transformation is
F3 = −(eQ − 1)2 tan p.

Soln: Given the fact that F3 = F3 (p, Q), we must first express the q and P in
terms of p and Q, as shown below
Q = log(1 + q 1/2 ) cos p
=⇒ q = (eQ − 1)2 sec2 p
=⇒ P = 2(1 + q 1/2 cos p)q 1/2 sin p = 2 1 + eQ − 1 sec p cos p (eQ − 1) sec p sin p


=⇒ P = 2eQ (eQ − 1) tan p.

Using the first generating equation, we have
∂F3
= −q
∂p
∂F3
=⇒ = −(eQ − 1)2 sec2 p
∂p
F3 = −(eQ − 1)2 tan p + f (Q),

5
 where f (Q) is only a function of Q. We substitute this in the second generating
equation
∂F3
= −P
∂Q
df
=⇒ −2(eQ − 1)eQ tan p + = −2eQ (eQ − 1) tan p
dQ
df
=⇒ = 0 =⇒ f (Q) = constant, which can be ignored
dQ
Thus
F3 (p, Q) = −(eQ − 1)2 tan p.

6. Prove directly that the transformation

Q1 = q1 , P1 = p1 − 2p2 ,
Q2 = p2 , P2 = −2q1 − q2

is canonical and find a generating function.

Soln: We will check the symplectic conditions using the order of variables
 
q1
 q2 
η=  p1 


p2
 
Q1
 Q2 
ζ=  P1  ,


P2

with this
∂Q1 ∂Q1 ∂Q1 ∂Q1
 
∂q1 ∂q2 ∂p1 ∂p2
 ∂Q2 ∂Q2 ∂Q2 ∂Q2 
∂q1 ∂q2 ∂p1 ∂p2
M =
 
∂P1 ∂P1 ∂P1 ∂P1 
 ∂q1 ∂q2 ∂p1 ∂p2 
∂P2 ∂P2 ∂P2 ∂P2
∂q1 ∂q2 ∂p1 ∂p2
 
1 0 0 0
 0 0 0 1 
= 
 0 0 1 −2 
−2 −1 0 0

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so that
   
1 0 0 −2 0 0 1 0 1 0 0 0
 0 0 0 −1   0
  0 0 1  0
  0 0 1 
M T JM =  
 0 0 1 0   −1 0 0 0  0 0 1 −2 
0 1 −2 0 0 −1 0 0 −2 −1 0 0
    
1 0 0 −2 0 0 1 −2 0 0 1 0
 0 0 0 −1   −2 −1
  0 0   0 0 0 1 
= = 
 0 0 1 0   −1 0 0 0   −1 0 0 0 
0 1 −2 0 0 0 0 −1 0 −1 0 0
= J.

Thus, the symplectic condition is satisfied, making the transformation canonical. In

order to obtain the generating function, given the structure of transformation equa-
tions, it is best to choose a function F 0 = F 0 (p1 , p2 , Q1 , P2 , t). Note this generating
function does not belong to one of the four standard types. The total generating
function in this case will be F = F 0 (p1 , p2 , Q1 , P2 , t) − Q2 P2 + q1 p1 + q2 p2 . Now, the
condition for canonical transformation is, as usual
dF
p1 q̇1 + p2 q̇2 − H = P1 Q̇1 + P2 Q̇2 − K +
dt
= P1 Q̇1 + P2 Q̇2 − K − P2 Q̇2 − Q2 Ṗ2
+ p1 q˙1 + q1 ṗ1 + p2 q̇2 + q2 ṗ2
∂F 0 ∂F 0 ∂F 0 ∂F 0 ∂F 0
+ ṗ1 + ṗ2 + Q̇1 + Ṗ2 +
∂p1 ∂p2 ∂Q1 ∂P2 ∂t
which simplifies to
 0  0
∂F 0
 0
∂F 0
      
∂F ∂F ∂F
+ q1 ṗ1 + + q2 ṗ2 + + P1 Q̇1 + − Q2 Ṗ2 + H + − K = 0,
∂p1 ∂p2 ∂Q1 ∂P2 ∂t

leading to equations

∂F 0
q1 = − (1)
∂p1
∂F 0
q2 =− (2)
∂p2
∂F 0
P1 =− (3)
∂Q1
∂F 0
Q2 = (4)
∂P2
∂F 0
K =H+ . (5)
∂t
We have to cast the canonical transformation equations such that we can easily inte-

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 grate the generating function equations. The desired equations are

q1 = Q1 (6)
Q2 = p2 (7)
q2 = −2Q1 − P2 (8)
P1 = p1 − 2p2 (9)

Using Eqs. (1) and (6)

∂F 0
q1 = − = Q1
∂p1
=⇒ F 0 = −Q1 p1 + f (Q1 , p2 , P2 ).

Using this in Eqs (2) and (8)

∂f
= 2Q1 + P2
∂p2
=⇒ f = 2Q1 p2 + P2 p2 + g(Q1 , P2 )
=⇒ F 0 = −Q1 p1 + 2Q1 p2 + P2 p2 + g(Q1 , P2 )

Using this with Eqs. (3) and (9)

∂g
−p1 + 2p2 + = −p1 + 2p2
∂Q1
∂g
=⇒ =0
∂Q1
=⇒ g = h(P2 )
=⇒ F 0 = −Q1 p1 + 2Q1 p2 + P2 p2 + h(P2 ).

Using this in Eqs. (4) and (7), we have

dh
p2 + = p2
dP2
dh
=⇒ = 0 =⇒ h = 0(by choice),
dP2
leading to the final expression for the generating function

F 0 = −Q1 p1 + 2Q1 p2 + P2 p2 .

7. (a) Using the fundamental Poisson brackets find the values of α and β for which the
equations
Q = q α cos βp, P = q α sin βp

8
 represent a canonical transformation.
Soln: The fundamental Poisson brackets should remain invariant under a canon-
ical transformation, i.e.,

[Q, P ]q,p = 1
∂Q ∂P ∂Q ∂P
=⇒ − =1
∂q ∂p ∂p ∂q
=⇒ (αq α−1 cos βp)(βq α cos βp) − (−βq α sin βp)(αq α−1 sin βp) = 1
=⇒ αβq 2α−1 (sin2 βp + cos2 βp) = 1
αβq 2α−1 = 1.

This equation is satisfied if 2α − 1 = 0 =⇒ α = 1/2 and β = 1/α = 2.

(b) For what values of α and β do these equations represent an extended canonical
transformation? Find a generating function of the F3 form for the transformation.
Soln: When α = 1/2 and β is taken to be an arbitrary constant, we have
β
[Q, P ]q,p = ,
2
which represents an extended canonical transformation for any value of β 6= 2.
Now, our transformation equations are

Q = q 1/2 cos βp
P = q 1/2 sin βp

For extended canonical transformation for a system with one degree of freedom,
we have
dF
λ(pq̇ − H) = P Q̇ − K + .
dt
When F = F3 (p, Q, t) + λpq, we obtain
∂F3 ∂F3 ∂F3
λ(pq̇ − H) = P Q̇ − K + λṗq + λpq̇ + ṗ + Q̇ + ,
∂p ∂Q ∂t
which leads to
∂F3
= λq (10)
∂p
∂F3
= −P (11)
∂Q
∂F3
K = λH + (12)
∂t
We first express P and q in terms of p and Q, as below

q = Q2 sec2 βp (13)
P = Q sec βp sin βp = Q tan βp (14)

9
 Combining Eqs. (10) and (13), we have
∂F3
= λQ2 sec2 βp
∂p
λ
=⇒ F3 = Q2 tan βp + f (Q)
β
Using this in combination with Eqs. (11) and (14), we have
λ df
2 Q tan βp + = Q tan βp.
β dQ
df 2λ
=⇒ = (1 − )Q tan βp
dQ β
1 2λ
=⇒ f (Q) = (1 − )Q2 tan βp,
2 β
leading to the final expression for the generating function
1
F3 = Q2 tan βp
2
8. Show by the use of Poisson brackets that for a one-dimensional harmonic oscillator,
there is a constant of motion u defined as
r
k
u(q, p, t) = ln(p + imωq) − iωt, ω= .
m

Soln: We know that a quantity u is a constant of motion provided

du ∂u
= [u, H] + = 0.
dt ∂t
For the 1D simple harmonic oscillator, the Hamiltonian is
p2 1
H= + mω 2 q 2 ,
2m 2
so that
 
∂u ∂u ∂H ∂u ∂H
[u, H] + = − − iω
∂t ∂q ∂p ∂p ∂q
   
imω p 1
= ( )− mω 2 q − iω
p + imωq m p + imωq
iωp − mω 2 q
= − iω
p + imωq
iωp − mω 2 q − iωp + mω 2 q
=
p + imωq
= 0,
hence, u is a constant of motion.

10
9. A system of two degrees of freedom is described by the Hamiltonian

H = q1 p1 − q2 p2 − aq12 + bq22 ,

where a and b are constants. Show that

p1 − aq1
F1 = and F2 = q1 q2
q2
are constants of the motion.
Soln: Because both F1 and F2 have no explicit dependence on time ( ∂F ∂t
1
= ∂F
∂t
2
= 0),
therefore, using the general result above, they will be constants of motion, if their
Poisson brackets with the Hamiltonian vanish, i.e.,
dF1
= [F1 , H] = 0
dt
dF2
= [F2 , H] = 0.
dt
Let us calculate these Poisson brackets
2  
X ∂F1 ∂H ∂F1 ∂H
[F1 , H] = −
i=1
∂q i ∂p i ∂pi ∂qi
 
p1 − aq1 1
= (−a/q2 )q1 + (− )(−q2 ) − ( )(p1 − 2aq1 ) − 0
q22 q2
=0

and
2  
X ∂F2 ∂H ∂F2 ∂H
[F2 , H] = −
i=1
∂qi ∂pi ∂pi ∂qi
= {q2 q1 + q1 (−q2 ) − 0 − 0}
= 0.

Thus both F1 and F2 are constants of motion.

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