8

Canonical Transformations

8.0 INTRODUCTION

We now mOTe to a new topic. This and the next chapter are suppoeed to complement each
other. In molt textbook• they are dealt with In a single chapter. So it •ould be adYieable
to read both the chapten fint, before trying to IOlve the problema.
We ha.-e already ,een that the generalited coordinatee and their correeponding generallJed
momenta could be ph71icall7 or dimenaional17 anything except for their pairwlte conjugate
relallonabip, which maintaina the dimension oI the product or any pair or coojugate Y&riablet
to that or action, or simply IML2 T - 1 J. In this chapter, we elaall in the name of 10-called
canonical trans£ormation1, trana(orm more freely, not only the generalited coordinate. and
generalieed momenta but al10 the value and the form of the Hamiltonian. The only require-
ment we shall rapecdull7 mete out i1 to retain the form or Hamilton'• canonical equatlona
of motion, 10 that the new or tramformed Hamiltonian alto sati1fiet the 2n equatlona of
motion in the new coordinates and new momentL The Hamiltonian i1 regarded merely u
a mathematical function ol a let of coordinate and momentum like parameten.
In the procea we can hit by ~bance or by tome 1y1tematic procedure, a canonical tran•
formation that ca.n tranaform the old or normal lookin~ Hamiltonian to any delired ample
form or our choice, say proportional to the new momentum or the new coordinate. Natu-
rally in 1uch cues, eolving the new Hamilton'• equation, or motion bec:oma trivial. Then
[Link] the inYene transformations, theee [Link] can [Link] be tramrormed to repraent
the 10lutlona in the old coordinate. and old momenta. In thia way we ean ,pare ounel'N!I
from aolYing directly Hamilton's equationa or motion written in tenm or [Link] old coordillatea
and momenta. Tbi11 is a kind of technical [Link] for eolving dynamical problems much
like the invenUon of the Laplace tramforma for 1olTing complicated differential equatiooa.
Canonical tramformatiom were introduced by Hamilton, but developed more fully by
Jacobi at about the same time u Hamilton wu doing them by hirnaelf. Their generality and
far-reaching couequences were not immediuel7 appreciated b7 the adentlfic communit7.
It wae only when group propeniea of tranaformationa in general became well-known to the
physimt1 that the importance of canonical tramf'ormationt wu fully reallied. Nnenbele11,
through the uae of pbue space in It atilt Ical mecbanica, the idea of energy ( BamiUonJan) u a
conatant or motion played a key role ln realising the microcanonJcal euemble repraentationa
of the thermodynamical 1y11tema. We mall briefly disco• the nature or Hamiltonian ftow1
towarda the end or the chapter.
 C11aoaical 'l'Nrw/ormcfin, 237

8.1 BACKGROUND AND DEFINITION

For a llolooomic bilateral dynamical l)'ltan with n degtee• of freedom, the choice of the n
[Link] coordinates it quite arbitrary. A given Rt of generali8ed coordinates need not
tefteet all the cycli.c coordinate. in th~ ~ a n or lM Hamiltonian n:pffllled in tmna
of these generaliaed coordinates and generaliaed velocities or momenta. It is, therefore,
very often needed to [Link] from one aet of generalised coordinates, say ( 91 , .. . , 9• ), to
another aet ol genenliaed coordinates, say ( Q 1 , ••• , Q.), connected by what ii ca&d a poiat
IN,u/ormctio• given by
i=l , . . . ,n (8.1)
The Jacobian of this tranafonnation abould not vanish in order that the invcne transforma•
tiona,
9i =
9i( Q1, · · · , Q.) i=l, ... ,n (8.2)
al80 exist.
Siooe the let ( 91, .. . ,"911) represents a deflnite point in the configuration space spanned by
these n [Link], it will lead to another definit-e point exprcaeed by the tramformat9ons
(8.1) in the oonfiguiratioo space ,paoOM. by then Q-coordinates.
The Lagrangian L(91 , . . . ,q.; cj1 , ••• , cj.; t) can be expremed in terms of the new coor<li-
nata and coordioab! velocities 110 that (see 11eCtion 6.6)
L(q,cj,t) • i(Q,Q,t)
The new momenta are given by
DL
Pi=-,-= P,(t1,•• ·• 911;P1, •• ·• Pn i t)
/JQi
Note that the new momenta are defined in term• o( the old coordinates, old momenta and
time on)),. Thua the general Conn of the point transformation is
and (8.3 }

with the correaponding inftne tranaformatiom

and (8.4)
We mu,t al80 require that Eqa (8.1) and (8.2) leave the form of Lagrange'• equatiODI of
motion invariant. It can easily be shown that Eqa (8.1) and (8.2) satisfy tlm requirement.
Point trwlonnatiom (8.1) and (8.2) are defined over the configuration apace. Hamilton'•
equations ol motion, howe,ei, describe the evolution of the state of a system in its pbue
apace. Thus, whenever Hamilton'1 equations of motion are med to describe the system'•
dynamics, the transf'onnatiooa (8.3) and (8.4) must. be replaced by a suitable phase space
tramf'ormatioo, namely
Q, = Qi(91, ... ,9.;p1, .. . ,p,.;t) -- ·and P. = P.(q1 , ... ,9,.;p1 , ... ,p.;t) (8.5)
If. we now want to have a phyaically m ~ l pbaae space transformation, it would be
 238 [Link] J/ecAuaic,

quite logical to demand that the tramformatiom (8.5) abould leave the form of BarniJtoo'1
canooical equation. of motioo invariant. Equivalently, we may require the invariance of
Hamilton'• principle under the tramf'ormatioos (8.5), that i1,

0 = 6[ [~ p,f; - 8(9, p,1)] dt = 1[ [~ P.Q, - K(Q,P,t)] dt (8.6)

where K (Q, P, t) u the transformed Hamiltooiao. The oooditioo given by F.q. (8.G) leadt
immediately to Hamilton'• canonical equations of motion
. IJK
P.·• = -8QJ
- 1111d (8,7)

which must be satisfied by the new coordinates and momenta (Q, , Pi)-
The phue space tramformatioos (8.5 ) that preacrve the fonm of the caaoaical equatiom
of motion, (that is, of the Hamiltonian equations ol motion) are called Caut1ical Tmu-
/ormchoa, (CT). Some textboob however, prefer to define CTa [Link] the ofinvanaoce
elementary Poiaon Bracket.a. The two de6nitioos are equivalent.
We can alto think of [Link]!ormatiom
'Ii= q, (Q .. .... Q. , t ) and
auch that only coordinates are transformed in the pbue space without touching the led«
for momenta. Such transformatiom are by nature point [Link], and are called
extended point tramformationa.

8.2 GENERATING FUNCTIONS

The estential requirement for the canooical transformation ia that every natural path in
the pbuc space spanned by (p, q) should, when mapped ooto the trwformed pbue •
pace spanned by (P , Q ), a&aio be a natural path satisfying the correepooding Hamilton'•
equations of motion.
We know that Hamiltoo '• equationa of motion result from Hamilton'• principle which
requires that both the terminal coordinates and the tenninal times be kept fixed and the path
at all other point.a be arbitrarily varied from the natural one. Bence we can always add to
the integrand of the transformed quantitiea in F.q. (8.6), namely PiJ, - K(P, Q, t), a ~al
time derivative of any lunctioo whoee variations vanish at &he limit.a of the integration. Since
the variation ol t, q1 , .•• , q., and hence ol t, Q 1 , • •• , Q,. have to vanish at the end pointa, for
the validity ol Hamilton's principle, such a function must be the time derivative of a suitable
function that depends on t, 91, ••. ,9.; Q1 ,• . . ,Q,., aay F1(91, ... ,9,.; Qa, . . . ,Q,. ; t), which
automatically satisfies
 Th• we cu genenlile the reqal•en,enl giTen b7 &a, (8.8) on tramformuiou (8.5) ao

0 • I[ [E"'. - H(p,9,C))M
• I[ [~P,Q, - K(P,Q,I) + !F1(9,Q,t)] M

when the two lnlegnDdl are lD general relaled by

llEiJJ~.. - H(tJ, ... ,._,,., . .. ,11jC)]

• ~P,Q, - K(Q1, .. . ,Q11;l't, . .. ,P.;e) + "

4eF1(1,Q,e) (8.8)
Here l ii a coulaat tcale factor, c:a1led the •ele,aee ol CT. When l ,;. l, the lraufonna-
tlona (8,,8) are called &be autau, eaunical tramformatlon1. Normall7 A l1 lel to unlL7
uad &be tramlorm&Uon (8.8) 11 called ••dtm or ,,_.,,, ca,aoaiell or limply ean:oraic1I
truamrma&loa. Bencelonh n ahall me l = 1 for which Lhe condlUonal requirement (8.8)
becomet

Pi. - B(1,,,e) =
.r\
p'"'' - K(Q,P,e) +
4F1(1,Q,C)
,U
(8.9)
,;.. 8F1 8F1 8F1 ,;..
= P'"'' -K(Q,P,t) + 8' + 8',t. + 8Q,""'
Bencefonh Elnlleln'1 [Link])o CODftlltion ii implied for all lhe repeated iadica Uled ln
uay lam. llewrillag P.q. (8.t) lD dU(erentlal form
8F1 8F1 8F1
" ~ - H(9,p,e)dl = P,dQ, - K(Q,P,l}fll + 8' 4' + 8'. 49, + 8Q, 4Q,.
uad [Link] 9,Q,e u independent ftriablea, we now get

,, - (~·) ..., Q,t

P, = - ( ~ ) for i • 1, . . . ,n (8.10}
"""' f ••
8F1
K(Q,P,e) • H(9,p,t) + 8''
The fllDdlon F1 (f, Q, t) la c:aDed lbe ,[Link] /udio,a or lhe canonical lranaformatlon
beeaa• It apedfiea the required equllom ol the tramformation, namely tbe oa• ginn by
&a, (8.5).
Therefore, for uniftleat C'I'I, the pbymcal dh,..,,llon or the tramformed Hamiltonian
l'ffllAiu unchanged.
Furthermore, lf Fa ii not ua aplldt function olllme, Lbu 11, Fa = Fa(9,Q), Lhe Ylllueor
K, tbe tnuformed Bamil&onlaa (uo jocawJy called 'Kamlltonlan') ii the same u [Link] or
the Bamiltonlua B ln the original plaue apece, for eTff7 point of the phue apace IJ)&DDed
240 Clauic.l J/ec/aaaiu

by (Q, P'). But in gentftl, the value of the Hamiltonian cbaniea under any time depe11dent
caoomcal tram!onnatiooa.

8.2.1 How to Obtain the Required CT When the Generating Function ia Given

When tbe generating function is given one can uniqudy construct the transformations (8.5)
and the transformed Hamiltonian in the following four steps:
(a) Construct then equations of the old momenta using the first of the set of relations
(8.10), that ia, obtain

p;(q, Q , t) = (8F1)
/Jq; Q., i = 1, .. . , n (8.11)

Fram tbe.e relations by algebraic manipulation try to solve for Q;'s, 110 that Q; 's are now
expreeeed u Qi = Qi(q, p,t). This is possible because the transformations (8.S) are
suppoeed to be invertible, at least locally. So we obtain the new coordinates as the func tions
of the old coordinatet, old momenta and time, thl\t is, half of the required equl\tions for the
CT are oomtructed.
(b) Take the eecond group of n independent equatiom of the new moment.a in Eq.
(8.10), givai by
i = l , .. . ,n
and [Link] for all Q; = Q,(q,p,t) that are obtained from the step (a ) abo\'e in each of
tbeae Pi equations in order to obtain Pi = P;(q, p, t ). So we get all new momenta as the
functiooa of the old coordinates, old momenta and time.
(c)Findtbeinveraetransfonnationsp; = p;(Q, P, t ) and qi= q;(Q,P,t ).
(d) Now find K(Q,P,t) from H(p, q, t) + 8Fi/8t by substituting all p's and q's as
functiou of Q, P, t only, in both tbe9e terms.
An example: Conaider the harmonic OKillator problem with H = p2 / 2m + kq 2 / 2 and
a generating function F1 = 1/2..;r;;. ,l cotQ. The above procedure as in part (a) yields

Q = tao- 1 c ✓i;;; qf p>

part ( b) ,giYeS
P = Jm /4k (lrq 2 + p2 / m)
part (c) prmcribea the invene transformations,

p = (bn) 11'./2ji 006Q and q = (km) - 1l 4 J'ip sin Q

and finally put (d) gives tbe transformed Hamiltonian

K = .;;;r,;.p
One may note that the original Hamiltonian which was quadratic in both q and p , baa
 Carloniul Traru/ormalion, 241

been truwormed to a form whJcb i1 linear in P with no dependence on Q. With ,uch a

ample form of the Hamiltonian, it ii Yff1 euy to aol•e the equation, of motion in P, Q
and then, ii neceuary, one can 111bnitate back for P and Q and get the 10lutioa, for q and
p, which would be the same u thoee, obtained by aolYing the original Hamilton'• equationa
in f and JI directly.

8.2.2 How to Obtain the Generating Function Fi when the CT la Given

In this cue Fi(f,Q,t} is not gi•en but the transformation Eqs (8.5) are giYen. The following
proc:edwe may be adopted in order to find F 1(q, Q,t).
(a) lnffrt Eqa (8.5) in order to obtain J1i = Jli(Q,P,t) and fi = q,(Q,P,t).
(b} Again take Eqs {8.5) and eliminate all p,'s 90 that after rearranging one obtain,
P, = .P,(9,Q,t). Similarly again take Eqs (8.6} and eliminate all P, '1 90 that this time oo
rearrangement, one obtains Jli = Pi{f,Q,C).
(c) Write thae newly obtained exprmion1 for,,, = p,(q; Q;e) and P, - P,(q;Q ;t} in
the partial diJl'erential equation,
8F1
Jli(t,Q,e) = 8t, and

respectiffly, and [Link]&e both tbe.e partial differential equationa separately. The fin& one
will rault in a eoluLioo to Fi ( 91 Q, t) except for Lbe comtant or integration, which would be
a (unction of Q'• and t only. Similarly, Lbe aecoad one will a1ao reault in another IOlution
to Fi ( 9, Q, f} except (or it1 conetant o( integration which will now be a (undion of q, and
f only. These two expzeaiom for Fi can be 1uitably combilled to find the correct 90Julion
£or Fi(f,Q,t).
(d) Once Fi(f,Q,e) i1 obtalned, find K &om B(,,q,t) + 8Fi/8' by 1ubltit11tiJ1g for
p'• and 911 from the in•ene trumormatiolll to Eq, (8.5).

An example:
Gi..-en Q = logf{l/ q) ainl'), P = q cotp and B = p2 / 2m + lt,r/ 2, 6nd F 1 (q, Q , C)
and K(Q,P,f).
Following the aboft p.r ocedure one fint obtains the inYene traneformation1 u ,, =
coe-i(PapQ) i q = [exp(-2Q) - P2)1 l1 which can be Uled to finally ob\ain F1(q,Q) =
9 coe-•1c1 - re:xp2Q)111J + [exp(-2Q) - ,11112

8.2.a Other Principal Forms of the Generating Function

The generating fUJ1ction need not always be an e:xplidt fUJ1ction o( q,Q,f only. In fad
one can apply Legendre'• traneformatiou to Fi(9,Q,e) and obiaill generating (UDctlona
u explicit functions of other Tariables. Apart from lhe paai..-e coordin&te t, the other two
bulependent coordina&ea ill a generating function can be any two (one old and the other
new) out of 9, Q, p and P, but oner more Lhao two became the third one can alway, be
exp;, !H ed la term, ol the Int two. ·
242 Clauieal Mtdanie,

Sometimea a generating function of the :Corm F1 = F1(9,P,I) ii more uef:al &ban

Fi. In onler to go &om F1 to F1 Uling Legendre'• &nuf'ormatloa, we mult note Iba&
the new ftdable■ Pi = - 8Fif8Q, are u independent u Q,'a, hence Legenche11 daal
trauformation of F1 will be

Them~
Pl"9i - B dt = P,4Q, - K dt + Ui
= P,tlQ, - KdJ + tlF1 - d(P,Q,)
8F., 8F1 8F1
= - K tll + 8t di + 8t, "'1, + BP, tlP, - Q,i.P.

Since i.n thi■ cue 9, P and C are all regarded u independent, one obtaim,

JJi _ (8F2 )
/Jt, P,t
Q, _ (8F2) i = 1, .. . , n, (8.12)
BP, •·•
BF,
K = B + Bi'"

Similarly one cao form a tWrd generating function F 1 (Q,p,I) &om Fi by replacing t,'1
by Pf'• gi•en by,. = BFiflJq,, in which cue, Legendre'■ dual transfonualioo become■

F1(Q,,,t) = F1(9,Q,t) - Pifi

Following the ■ame procedure u iii the cue of F2 , we obwn

P, (8F1)
-
8Q, .,,.,
,, - (8F1)
8p, Q ,1
i = 1, ... , n (8.13)

K= B+8F1 - 8t

Similarly, a fourth generating function F4 (p, P,I) c:aa be comtruded either from F1 or
F1 or eYea from F1 wMre
F4{p,P,t) = Fi(f,Q,t) - 9'Pf + P,Q,
= F1(Q,p,t) + P,Q,
= F1(9,P,t) - P•fi
 Cuo,ueal 'l'N,ufonuJio,u ~3

glring flDallyt

i = 1, .. . ,ft (8.1 ◄)

\
Thae four generaUng fudlom haft 1triking limilarlUel with &he four lhermod7namic
potenUala U', B', F' and G' deacribed earlier in connedlon wl&h Legendre'• trandor-
ma&lou in aectlon 5.1. Thae four genera&ing [Link] a1Jo sa&isfy Maxwell-like relation■
"· which can be obtained by clifl'erentiaUng once more the fim two relations of each of the 1et1
or Eq1 (8.10), (8.12), (8.13) and (8.14). We quote the final rmtlt1

i,i = l, . .. ,ft
i,i = 1, ... ,n
(8.15)
i,i = 1, ... ,n

i,i = 1, ... , n
each one obtained in eequel from the four diatinct forma of the generating f unctlou, namely
F1(f,Q,e), F2(9,P, e), FaC,,Q,1} aud F4(p,P,e).
EquaUom (8.15) are to be [Link] by all [Link] canonical tr&Dlformatiooa. The
beauty orthae equations lia in their 1ymmetrical fonm, whlch are totall7 independent
of the Hamiltonian or the generaling functiona. Giffll a • l of canonical [Link]
ei&htt in &ht form of Eqt (8.1) or in tbt lorm of Eqa (8.5), they mu1t 1&Lilfy all the four 1et1
of equaUom gi•en in Eqa (8.15).
An in&eratlng point to no&e ii that In all four cues the Yalue of the trannormed Hamll-
lonlan K ii rel&~ to the Yalue of the old Hamiltonian by a similar relation, the •alue
dlffen by the partial time deri•alift of any one of the generating functiom. If there is an
aplldt time dependence in the trandormation, tbeimel•ea the generaling functiona muat
aleo ha,e aplidt time dependence becauae Q = Q(f) and P = P(f) imply rDOYing
&amet or reference and hence energy or Hamiltonian cannot be the 1&me in tbe two framea,
nesa though with reapeet to either frame they ma, be a constant of motion .

8.2.4 CoDCliUona tor Canonlcallt7

The propen1 of the canonical trantfonnatlon1, namely &he occurrence or tbe aame time
parameter I in bolh the phue 1pe.ce1 1panned b1 (9,p) and (Q,P), 1hould in principle
allow 111 to &ell the 00Dditlon for canonical tranlf'ormatioo in term1 or 9, JI, Q, P an~ their
cWrerulial:■ only. Time C&D. be trea&ed u an independent parameter. In fact thi1 ii quite
244 C,.,1ieal Meelaanie,

obYiou In all the four ld1 or

Eq1 (8.15) thal can be med for telling the caDOJLlcallt1 of
a [Link] phue ,pace trauf'ormatlon. All tbeee condillou are aleo eeen to be [Link]&ecl a&
Coutant C, which lignifia the purelJ geometrical nature of the cuoaical trau(orm&tiODI
that take place in term, of the phue epace coordin1te1 alone. Although the condiUou for
canonicallt7 by definition muet be 1uch u to pram we the Corm or
BamiUon', eqaatiolll of
motion, the conditiona themte!Yee in the form of &p (8.15) are [Link] independent of
the Hamiltonian. In order to appreciate thl, point further, let 111 recall the concBUon for
ca.nonJcaUt7 in teJml of the genera&lng function F 1(9,Q,C) from Eq. (8.9) giTeD by
l'idt, - B(,,9,t).U = 1'4dQ, - K(P,Q,C}d, + U'a(f,Q,C) (8.18)
Here dt,· and tlQ, are the difl'erential (perf'ect) changel in the coordinate, ln real time .a.
or
Since the tranaformatiou in the phue ■pace between two 1et1 coordlaatee ,,,, and Q,'1
are e111e1Jtially geometrical (that i1, without in-Yolriag, - t'), we can look upon 'ti and
tlQ, u the element, of italic geometrical cunet ra&her than [Link] pa&ba, 10 far u &he
teedng ol the canonical condition i1 concerned. Thi, lade to 1etting ti, =
0 in Eq. (8.18)
wWch gh-ee
,, 69, - P, IQ, = an exact differential {8.17)
where Cin P,(t,P, I), Q,(t,P, I) and F1(9,Q, I) i1 held conttua& while finding the clllerenllall
It, uad IQ, . Tbl1 11 analogoue to the testing or a geometrical c:ondltion ma rheonomlc
coutralaLI which can proceed with the contemporaneoua ftria&loll1 or the c:oordhwee.
Here In the aboTe condition P, = P,(9,p,C) uad Q, =
Q,(9,p,t) are alread1 uaed to
naluue P,dQ, in tenna of (p, 9, ') ouly, ■o thal the aactnea can be tetted la eitber &he
(t,P) 1pece or the (Q,P) • ~ but not in any mlud ,pace. Abo note &ha& the pn>ce11
or 1ettlng tU z O automatically remoftl all the Bunll&onlua dependent &enm from Eq.
(8.18).
Now 111ch • 1et or equationa In terme of dllferen&ial1 ii laid to hate &he property of coalac&
lrauformatiom, which are defined u (ollowa.
IJ the iequMion■ connecting two ldl of ftriabla (fa, ... , 9,., '1, .. . , p,.) and (Q1, ... , Q.,
Pa, . .. , P,.) are 1ucb that the differential form
P1flQ1 + .. . + P,.flQ,. - {PJclti + ... + ,,_4.}
11, when apreaed In Lenne or (91, ... ,,., PJ, ... ,,,.) and their dill'eren&lall, &be perfed

,It ... ,,,.)

differential of a function of ( 91, ... , 9,., ,i, . . . ,p,.), &hen the change &om the ,et of ftliabla
fro.m (fl •... , 9,., lo (Q 1, ••• , Q,., Pa , ... , P11 ) la called a eoMad &ranaormaUoa.
Ill e11en&ial geometrical property ii thal if one draWI two CV'Yt!I wbkh meet langeDtiallJ
al tome point then in the lranaformed pbue ■pace the corrapoodlng CUl"ftl are allo bound
to meet tangen&ially al the correepondlng phue 1pace point, thua empbulwtng the meulng
or the adjedh·e 'contact'.
Now the coodltJon (8.17) doee la&iny tbl1 property, and hence .Zl canonical ftu/orrna-
tion, •re nolli.., 6111 [Link] nn,Jomacfio,u, IO long u &he time parameter luelf 11 not
Lramlormed. The condition (8.17) can aleo be dmffll &om the 8m of Muwell'1 reluhm,
 Canonual TN,u/ormcuo., 246

\bu la,

(:.),., - - (:: )Q,•

becaue we bow that lf
(':). = (:),
U.. Ma + Ni., 11 a perfect dlfl'eremial, which giYes the condition (8.17).
Slmllar coadiUom cu be clerb·ed from lhe other Ume equa&iona of Maxwell, and they
are
~It, + Q,IP, = a perfect diJl'ereoUal
941,, + P,IQ, = a perfect differential
941p, - Q,IP, = a perfect diJl'erenlial
Some more te1&1 of cuoaif...Uty will be gjffn in the next chapter and in problem 8.6.

a.a PROPBRTD.18 01' CANONICAL TRANSFORMATIONS

1. The Jacobian determlnant of the uoJT&lent [Link] tranaformationa 11 unity, with
the reeult &Ila& any fiai&e Yolume of the phue apace before and after the tr&n1formation
remalu thew. (C&DODical tnuformationa pttaene YOlume in the phue apace.)
Lei
Q, = Q,(t,,,c) and P, = P,(9,p,I) i = 1, ... ,n
be a uoJftleat caaoalcal tnmformation. The Jacobian of the tramf'ormation ii defined to
be

(8.18)

hatrodudDg an [Link] pair of aet■ of independent coordlnatee (9,Q) we can write

J = 8(Q1, .. . ,Q";P1, .. . ,P") . 8(ft, ... ,9,,;Q1, .. . ,Q.. )
8(ft, • • •, ft1iQ1t • • •, Q.) 8(91, · .. ,9,.; ,., · · · ,p,.)
We now lmerdauge the left and the right hal"' of column, in the &nt faclor and wrile the
NCOnd fad« 1D lenDI ol the COfflllpoadJng lnYene tr&n1formation1. We get
J = _ [8(Q1,,, .,Q.;P1,• •· ,P•)] [ 8(f1, . . . ,9..;p1, ... ,p,.) 1-•
8(Q., . •· ,Qt1if1, . · ·,fa) 8(9.... • ,9.. ;Q1, · · . ,Q")
248 Ckukal Metuttie,

Tbele two determinant, ba-.e the folio~ general form.a [Link]:

I (f),) and
(
0 (~),,
From lbele general forma, it i1 euy to deduce that
J = [ 8(P., ... ,P.)l
- 8(91, .. ,,9.) Q'•
[ ac,., ... ,,-)
8(Q., ... ,Q.)
1-• t'•
_ [8(8F1 /8Qi, .. . ,8F1 / 8Q.. )] [8(8F.J8q., , .. ,8Fi//Jt..) 1-•
8(91, ... ,fa) Q'• 8(Q., ... ,Q.) t'•
It ia now obTiou, &bat thae two daerminanu are identical, and &benfon, J = 1 • Bence,
clq. ... 4q"41'1 · .. q,. = J IIQ1 .. •dq.4Pi . .. U.
= ,IQ, . . . dtQ.tlP1 •. . OJ.
In other word,, the •olume element of the pbue 1pac:e remain, unchanged for any [Link]&
canonical &ranaformaUon. Thi, lt generally ftlid when the pbue apace ii coutnaded in a
Carteeian [Link]. Note that a change from &be Car&elian to the apllerical polar coordina&ea,
hu &be Jacobian
(S,.lt)
So thil extended point trauformation (z,w • .1,,.,,-,,.) - (r,l,.,P.,P,,P,) ii not canoni-
cal. Try to IOl-.e problem number 8.5 for further clarificaUoo.
2. All uni'falent canonical trauformatiou Corm a group. For tbit we need to uow that
(a) The ldenli&y &ramformalion (t,,) - (Q, P) where t = Q and, P ii a = ,.
canonical &ranaformaUon.
(b) Two canonical trauforma&iou performed in aequence c:orretpODd to a up c:anonical
tramforma&ion (donre condition).
(c) The [Link] of a [Link] canonical trauformaUon exi1t1 and ii itself a CUIOllical &rau-
formalion.
(d) The CT1 performed in order (C1 C1)C1 and C1(C1C1) are identical, that ii, the
compoaiUon of CTa ia UIOC:iati•e.
To 1how (a) we cbOOle a generating func&ion F1 (t, P) = 9'P,. Therefore,
8~ 8~
Pi = IJq, = P, and Q, = BP, = t.
which demomtra&el the existence of an identity trauformation which ii canoaicaJ.
To thow (b), let

Q ;;; Q(Q,P,C) P= P(Q,P,C)

ud Q = Q(q,p,C) p = P(9,7,C)
 C•unical Tran,/onulioa, 2-'7

be the canonical trunormationa. Therefore at any fixed time,., we can write, Uling Eq.
(8.17)

Adding tbele equatiou we get

~F + I) = Pilfi - P,l(Ji (8.20)

w~chpl'OftltheUlel1ion.

To prcne (c) let

Q = Q(9,p, I) and P = P(t,P, I) (8.21)
be a canooical trwlormatioa. We want to proft that the inttne tranlformatioo
f = t(Q,P,I) and p = p(Q,P,C) (8.22)

ni1ta and 11 canonical.

For lhl1 we u■ ume that the derintiftl of Q and P are contlnuou■ .
Then a well-known
theorem ln calcuJ111, the [Link] mappins theorem, 1tatea that Eq. (8.22) exi1ll at e•ery
polnt in the range of Eq. (8.21) pnmded the Jacobian determhw1t of Eq. {8.21) (Eq. 8.18)
i1 nouero at nery point in the domain of Eq. (8.21). We haft already proftd that the
Jacobian detenninaat or Eq. (8.21) i1 unity over the domain or Eq. (8.21). Thi1 pro•es the
aiatence of Eq. (8.22).
Since the tran■formation (8.21) ii canonical, by F.q1 (8.16) and (8.17) we get, for [Link] t 0
0'(9,p.1.) = p,lt, - P,IQ, (8.23)
H we nbltitute the inftne tranlformations (8.22) in F.q. (8.23) we find that the trantformed
function - l'(Q,P,c.) aatilfiet tbe relation

d{= F(Q,P,t.)1 = P,IQ, - llilt,

which ahowt that the trau£ormation (8.22) II canonical.

To ptOTe (d) CODlider the following canonical tranlformation1

,,.,(9(0 ,p(J>)
C : (t(•> ,,<•>) -

B : (9(1>,p(O)'!' (t('>,,< 2>)

and
A:
,m
(qC'> ,,<'>) - (9<a> ,p<a>)
Uling the procedure leading to Eq. (8.20) we tee that the generating function for bo\h the
compoaitJou, A(BC) and (AB)C, are F',•> + F 1> + J,"( 2> 1howing that (AB)C = A(BC).
Therefore, ell ttftifflffll CT, /onA • f'OVI, o, in otber wordi, the ilgebta of the group
are unllormly applicable &o all the pcable eumplel of CT■•
248 C,.,,ial Alulauu

e.• SOME EXAMPLES OF CANONICAL TRANSFORMATIONS

The examples given below are picbd in order to demonstrate bow ves:atile the CT, are and
bow the bidden aymmetriea become quite tramparait in many c:uea.
1. Let ua 1tudy tM canonical tramformati.o o generated by F1 ( f, Q, t)
It immecfie•ely gives
tJF,
Pi= -
IJqi
= Qi and Pi = - -8F1
80i
= -fi (8.24)

[Link] (8.24) show that momenta and coordinatea are canonically equi't'alent. They can
be ercbeng,i,d except for a sign. Thia fed can be appreciaied by noting that Remiltoo'•
e,qu1tiou of motion are l)'IDDletric in Pi'• and f i '• except for • cb1np ol sign. Tbua gen-
enlieed momenta and ooordioates are completely equivalent in the deecription ol the phue
[Link] ol a system obeying Hamilton'• equaliom of motion. The coonlio■te ledor of
the phue apace can interchangeably be read u the momentum aector except for the 8ip of
sign to be introduced.
2. The extended point tramf'onnationa are in general aoC canonic:al transfonnatiom. It
abould be cautioaed that most textboob claim the opposite.
Uaually the generMiog function ia cboeen to be

Fi =L /i(fl ,···• 911,t) pi

i
giving
Qi = IJF2
IJPi = / i(f1,• •· , q,.;t )
Thia justifies only a partial requirement al a point transformation. Now the aboYe bm of
F2 uo give.

which D"eeDI that Pi ~ Pi. Bence the above tranafonnatioo is in general not an fllllaldecl
point tranlfomwioo.
3. The pup tramformations for the elec:[Link],acnet.c potentials are merely caoooical
tramf'ormatiom in the pbue apace.
It is well known that Maxwell'• equatiom of electromagnetism do no& specify the electro-
magnetic [Link] A(r,t) and f>(r, t) uniquely. lf the potentials are cbanpd u

A'(r, t) a: A(r, t ) + V /(r, t) and ♦'(r, t ) = f>(r, t) - lJ/~, t ) (8.25)

where /(r,t) is any arbitrarily choeen scalar point functioo; both the leb (A',.-') and
(A, ♦) aatil(y the same Maxwell'• equations. The tramfonnatiom {8.25) are called eledn>-
mapc:tic f••fe tr,&Jujormation,, under which Muwell '1 equa&iom 1"CJ"DN9 ioftriallt.
We now show that the gauge traosformatiooa (8.26) can be efl'ected through a canonical
&1udF11iMlcJII o( COOl"Ctiu&el r ud 11,WNlQl& I to (Q, P) U de&ned below,
Ohooee a uiJas ludioa
F1 (r,P) = ,. . p - e /(r,t)
Thia P"' ,~ 8~
•= IJr = P - e V/ and Q = BP = r (8.26)

whld- meen• lbal Q = r ud Q = I'. The new Bamll&oniu it

BF, 8/
K(P,Q) = B + 8' = B - e a, (8.21)

Now we •now Illa& I• eaDOllic:al momenlum it

•-rm,+eA
ud ll llae pup tra111formaU0111 (8.25) corn8pond to the canonical trantfomwlom (8.26)
lbea the anonkall1 new momentum P which i1 equal to• + eV/ mun coca•pOlld to
fllQ + eA', [Link] it lu page equlftleat. Thi• it tbown u follows:·
P = • + e V/ = ml- + eA + e V /
-= mQ + e(A + V /) = mQ + eA'
pTlng the Im of the &p (8.23).
SlmUady &om P.q. (8.27) we get

K =B - e y_
lH
= !mr•
2
+ e; - e BJ
8'
+ e (; - 81 ) = !mQ + e ;'
1 1
• !m0
2 IN 2
pYlng llie teCODd of !qt (8.23). Th• the new cuaonic:al momentum and energr are the
page lralllforml ol lbe old cuoaic:al momentum ud energy r-apeeti~ely, ,bowing that the
electromagnetic pap lralllfonnaUona can be •lewed u a wtiYalent caooulcal trautfonna-
Uoa (8.21).

4. The Lagrugian page tl'UllformaUon giYen by

L'(t,.,t) = L(f,.,C) + t(f~,C)

cu alilo be newed u a canonical tramformation efec~ by the pneruing fWldion,
F1(9,P) = tiP, - /(9,C)

BF, 8/
"•~•P,-- (8.28)
"'' lit,
250 Cla,,ieal Med&nic,

and
K =H + of
8F2 =H - 8/ (8.29)
8t
No&.e that 9i = Qi and hence fi = Qi.
Now one bu to see whetbelr the new momenta A
and Hamiltonian K obtained Tia
c:aaonical tranafornwion are the same u thoee expected from the new Lagrangian L', Uiat
11, whdher
8L' fJL'
P, = .;-,:- and K = ~ Q, - L'
8'-li
In order to prove this, coDlider

:: = !!: = !! + 8~ ( : )
= Pi + .!!._ [ 8/ + 8 / ..] =
8t. 8C 8qi
Further,
. 8L' I . ( 8/) L 8/ . 8/
Q - L - 9i + 8q, - - 8t - " 8t,
i lKJi ,,,
. 8/ . 8/
- (9i1', - L) - 8C = H - 8C = K
which proYeS the asaertion.
5. Any infinitesimal coordinate tr&n1formation it a canonical tramformatlon.
Cbooee the generating (unction to be

F2(r1 P) = r -P + Aa -P
where A• la a conatant Yeetot repraenUng an infiuiteaimal! coordinate &ramformation,
Q-tr + A• · (8.30)
or equivalently, a shift in the origiJ1 of the coordinate tyatem by - Aa. The aboft generating
function giYet
8F2
Q = /JP =r + Aa and K=H (8.31)

[Link] momentum and Hamiltonian unchanged u expected. Equa&iona (8.31) ob,loully

conapond to the infinitesimal coordinate tr&111Cormation {8.30), which it now proYed to be
a CT.
6. Ao7 infinitesimal rotation by A; of the coordlnat,e frame about an uia peni"!g
through the origiJl and pointing i.n the direction o( &be unit Yector I\ correaponds &o a
camonlcal trua(ormation .
Take u &be generating function,

Ft(r,P) == r - P + Afa-(r X P)
 Canonial Tra,forrutio,., 251

Bence
Q • /J}2 A.&. (6
8P • r + -,, >< r
)
(8.32)
BF,
, C 8r = p - A; X P) <•
&auaUou (8.32) coneapood to an infinl&elimal rot&Uon A; of &be IJflelD around ,any
arbitrary dlrectioD (6) or eqai.-.lenUy to the ro-.&iola of the coordinate frame by - 6 A;
UOWld the eame direction.

7. Any Infinitesimal uanaformation [Link] ~ ahift only in time by Al ii a1ao a c&noDical

uwformalion that CODDedl the nolution of the coordioatea and momenta in time.
Since the time eYOlation of a comernthe 111tem mer any intenal of time i1 paned by-
the Bunillonian, we chooee u the generating function
F,(9,P) = qP + At B(q,P) {8.33)
Tbil gi'fl!I
8F, 8B A
Q(C) = BP = 9 + AIU = f + A,..,
~ f(I) + Atq ~ 9(, + AC)
correct to the fim order of amann,_ of AC. The abowe approximaUoaa an, pouible became
of lhe 1mallnea of Al. ApiD,
BF, 8B
p(C) = "it'" =P + AC 8q = P(C) - ;At

Thuawege&
Q{C) = 9(1 + At) and P(C) = p(C) + ; AC = p(C + Al) (8 .34)
and allo
(8.35)
[Link] (8.34) and (8.35) show that an infinltesimel ch•nr ill Urne by Al leada to
the eYOluUon of the couenatiwe 1ynem from f(c) to Q(I) t(t + AC), = ,<,) to
P(C) =p(C + Al) and B(f(C),p(C)) to K(Q, P) = B(t(C + AC),p(C + AC)). Thil
uwformation can be Tiewed u an [Link] canoaical tnn.t'ormaUoa generated by the
generatlag function (8.33) which inwl.- the Hamiltonian in the in&nitesimal term. Thia ii
Ute reuon. wby the Bamiltoaian 11 called CAc fffN"SU" o/ noltaao11.
Since caaonkal tmuform&Uou are ■-ociatil'e, a large number of infiaJiemnel tra.u-
bma&lon1 of the abcne kind can be applied ln ncceaioa. Thu, uy pnenl IOlution
9 = t(f.,p.,C) [Link], = p{f.,p.,C) from tbe bdtial ftl1111 (f.,p.) cu be reprdecl u a
canonical hanlformallon between the iniUal and ha1 ftluea, that ii, directly from (9e,p.)
'° (9,p).
8. The canonical trandormaUon generued by
F,(r,P) = r · P + (V, P)C - m (r. V)
262 CZ..,ic.J Muua~,

alao rep-eeent.a a physical situation.

In this cue, we have

P = IJF2 = p - mV 01' P =p + mV
l>r
Q - 8F2 = ,. + Vt (8.38)
- /JP
and
8Fi
K=B+ 8f =B+P•V (8.37)

We lmow- that Eqs (8.36) and (8.37) represent a Galilean transformation frcxn (r,p) to
(Q. P), where the origin of the (r,p) system is moving in real apace with a c::oos&ant Yelocity
V with respect to the origin oC the (Q, P) ll)'ltem.
9. A changam:r to a uniformly rotating frame of racrcoce from a ■tatiooary frame CUI
al90 be shown to be canonical using the following generating function,
F2( r, P) = r •P - t w · ( r x P)
becauee this generating function gives
lJF,
p = 8r = P + (w x P) t
(8.38)
__ lJF2
Q r+(rxw)t
8P -
and
K = H + lJF,
lJt = H - w • (r x P)
(8.39)
= H - "' . (Q X P) = H - Ill • L
where L ia the angular mamentum meuured in the ~ating frame. The.e result. can be
verified &om the ooea given in chapter 3, namely Eq. (3.8).

8.5 CANONICAL TRANSFORMATION TO THE FREE PARTICLE HAMIL-

TONIAN

The principal utility of the canonical tramformation ia to transform tbe physic:al Bamil&o-
nian H(9,p,t) to a new Hamiltooian K(Q,P,l) such that the c::[Link] equalioa• of
motion become easier to 10lve and alao diaplay all poaible cyclic coordinates and comerved
quantities. A. an illustration we shall preaent here examples in which the tramformed
Hamiltonian of a non-free 1y1tem may look like that of a free particle.
Let us consider the motion of an electrically charged particle having charge e and mua
m in a uniform electric field E with E pointing along the one-dimemiooal positive q-axu.
The Hamiltonian is
H(q,p) =' - eEq
 Cauflical Truu/onuliou 263

giriag &be comple\e IOluUom of Bamil\cle'1 equ1&k>u or moUoD u

., = ,., + ,.

f • ( ;!)11
+ (:) C + f•
We wam &o CUODically &runorm (t,P) to (Q, P) ncb &ha& &be uandormed Bamil\oalan
K(Q,P) UIUIDel &be bm or I free pertlde Bamllloalan for DIIII m, &hat l1,
p1
K(Q,P) = 2m
wllh I comple\e 1oh1&loa,

Q • (:;;.) I + Q. and P • P.

Now ellrnioatlng I be\ween dleee &wo ee\l o( tolutioo1 and aeUlog t. = Q. = 0 ud

,- "" P. = P we get,

'
eE(mQ)
""' 2mp
1

+Q (8.40)

Thie ii &be required [Link] &fllllfoanadoo.

Slmllarly, &he Bamlltoaian ~ a limple 1- D lwmooic Oldlla&or lo (t,P) 11 gi'ffll by
1
B(t,P) • ' + ~"""' f'
wilb a eomple&e IOlu\ioa

ud
f =
P• lin(wt) + q. coe(wl)
""-'
Oo tw [Link] ol Cbe\ween tbeee IOlu&IODI ud &be required &ee particle aolution In
(Q,P) wl&h Q. • t. • O IDd P• = P. =- P, oae obllin1

(8.41)

In eome mreme c:uee ll ii nen pollible to make &be &ranlformed Bunlltonian [Link]
ftlliab, Iha& ii, K(Q,P,I) • 0, hr•peclift o( &he gi•en form of B(9,p, I). When we ue
llamiltoD'1 prindpal fwaClloa W(91, ... ,q.; I) (eee Eq. 8.38b) u a genera&iog fuac&ioa, &be
trudormed Buniltoaiua ftlliab• automatically becauee ol &be idenlilla
8W
K ■ H+a,=0

Such. dw or IOlalioal ud &be [Link] CT, will be o( UllDOll Importance, IDd In

fad fonlll &he bull of cblpler 10.

254 [Link] Jleclaanu:,

It may not be out ol place to make comment on Eq. (8.38a). It i1 obvioua tb.u the
normal to the equi-action awface for W in the n-dimemional cooflguration apace ia deftning
the canonical momeo&um u a vedoc in the Ame configuration apace. Tbe Hamiltonian
being a 1urface in the phase apace 6oda a place also in the cooftguraLion 1pace through the
function W, through the relation F.q. (6.38b}. The partial time derivative of Wat a giYm
or
point in the cooftguraLion space definee the form the Hamiltonian.