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UNIT-2
Poisson Bracket:
Consider a system having ' 𝑛 ' degree of freedom. ie,
it has 𝑛 generalized co-ordinate
This system is described by a dynamical variable 𝐹(𝑞, 𝑝, 𝑡)
i.e the variable F is a function of co-ordinates, momenta and
time.
Its total time derivative is
𝑑𝐹 ∂𝐹 ∂𝐹 ∂𝐹
= ∑𝑘 𝑞˙𝑘 + ∑𝑘 𝑝˙𝑘 +
𝑑𝑡 ∂𝑞𝑘 ∂𝑝𝑘 ∂𝑡
𝑑𝐹 ∂𝐹 ∂𝐻 ∂𝐹 ∂𝐻 ∂𝐹
= ∑𝑘 ( ) + ∑𝐾 (− )+
𝑑𝑡 ∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘 ∂𝑡
𝑑𝐹 ∂𝐹 ∂𝐻 ∂𝐹 ∂𝐻 ∂𝐹
= ∑𝑘 ( − )+
𝑑𝑡 ∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝐾 ∂𝑡
The quantity with in the prosthesis is known as Poisson
bracket
𝑑𝐹 ∂𝐹
= {𝑭, 𝑯} +
𝑑𝑡 ∂𝑡
Where {𝑭, 𝑯} is known as Polsson bracket of 𝑭 and 𝑯
(i) If 𝐹 is a constant of motion.
𝑑𝐹
Means =0
𝑑𝑡
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∂𝑭
⇒ {𝑭, 𝑯} + =0
∂𝑡
(ii) If 𝐹 is not depending upon time explicitly.
∂𝐹
Means =0
∂𝑡
𝑑𝐹
⇒ = {𝑭, 𝑯}
𝑑𝑡
(iii) If 𝐹 is constant of motion and doesn't depend upon time
explicitly.
Means
𝑑𝐹
=0
𝑑𝑡
∂𝐹
=0
∂𝑡
⇒ {𝑭, 𝑯} = 𝟎
Any dynamical function which remains constant during the
motion of the system are, are called constants of motion
For problem use the following formula
∂𝑓 ∂𝑔 ∂𝑓 ∂𝑔
[𝑓, 𝑔]𝑞,𝑝 = ∑𝑘 [ − ]
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
Poisson bracket of Two Dynamical Quantity
𝐴 and 𝐵 are two dynamical quantity, Poisson bracket of 𝐴 and 𝐵
is defined as,
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∂𝐴 ∂𝐵 ∂𝐴 ∂𝐵
{𝐴, 𝐵} = ∑ ( − )
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
𝑘
Properties:
(1) Poisson bracket of a function with itself is identically zero.
∂𝐴 ∂𝐴 ∂𝐴 ∂𝐴
{𝐴, 𝐴} = Σ𝑘 ( − )=0
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
(2) The Poisson bracket of a function with any constant is zero.
Where 𝛼 = Constant
∂𝐴 ∂𝛼 ∂𝐴 ∂𝛼
{𝐴, 𝛼} = ∑ ( − )=0
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
𝑘
(3) Poisson bracket has the properties of anti-symmetry, given
by
{𝐴, 𝐵} = −{𝐵, 𝐴}
Thus, Poisson bracket does not obey the commutative law of
algebra.
(4) Poisson bracket obeys distribution law, that is
{𝐴, 𝐵 + 𝐶} = {𝐴, 𝐵} + {𝐴, 𝐶}
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(5) {𝐴𝐵, 𝐶} = {𝐴, 𝐶}𝐵 + 𝐴{𝐵, 𝐶}
{𝐴, 𝐵𝐶} = {𝐴, 𝐵}𝐶 + 𝐵{𝐴, 𝐶}
(6) Poisson bracket of a dynamical quantity with a co-ordinate.
∂𝐴 ∂𝑞𝑖 ∂𝐴 ∂𝑞𝑖
{𝐴, 𝑞𝑖 } = ∑𝑘 ( − )
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
Since 𝑞&𝑝 are independent.
∂𝑞𝑖
=0
∂𝑝𝑘
∂𝐴 ∂𝑞𝑙
{𝐴, 𝑞𝑖 } = −∑𝑘
∂𝑝𝑘 ∂𝑞𝑘
∂𝐴
= −∑ 𝛿 Kroncher Delta
∂𝑝𝑘 𝑙𝑘
𝑘
∂𝐴 1 𝑖=𝑘
{𝐴, 𝑞𝑖 } = − 𝛿𝑖𝑘 = {
∂𝑝𝑖 0 𝑖≠𝑘
(7) Poisson bracket of a dynamical quantity with a momenta.
∂𝐴 ∂𝑝𝑙 ∂𝐴 ∂𝑝𝑙
{𝐴, 𝑝𝑖 } = ∑𝑘 ( − )
∂𝑞𝑘 ∂𝑝𝑘 ∂𝑝𝑘 ∂𝑞𝑘
∂𝐴
= ∑𝑘 𝛿
∂𝑞𝑘 𝑖𝑘
∂𝐴
=
∂𝑞𝑖
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(8) Poisson bracket of a coordinate with a momenta
{𝑞𝑖 , 𝑝𝑗 } = 𝛿𝑖𝑗
Ex:
{𝑞2 , 𝑞3 } = 0
{𝑞4 , 𝑝4 } = 1
(9) Jacobi Identity
{𝐴, {𝐵, 𝐶}} + {𝐵{𝐶, 𝐴}} + {𝐶, {𝐴, 𝐵}} = 0
Where 𝐴, 𝐵 and 𝐶 are in cyclic sequence
∂ ∂𝐹 ∂𝐺
(10) [𝐹, 𝐺] = [ , 𝐺] + [𝐹, ]
∂𝑡 ∂𝑡 ∂𝑡
(11) [𝐹, [𝐺, 𝐾]] + [𝐺, [𝐾, 𝐹]] + [𝐾, [𝐹, 𝐺]] = 0 (Jacobi's identity)
Identities:
(i) [𝐹, 𝐹] = 0
(ii) [𝐹, 𝐶] = 0, 𝐶 = constant
(iii) [𝐶𝐹, 𝐺] = 𝐶[𝐹, 𝐺]
(iv) [𝐹1 + 𝐹2 , 𝐺 ] = [𝐹1 , 𝐺 ] + [𝐹2 , 𝐺 ]
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(v) [𝐹, 𝐺1 𝐺2 ] = 𝐺1 [𝐹, 𝐺2 ] + [𝐹, 𝐺1 ]𝐺2
∂ ∂𝐹 ∂𝐺
(vi) [𝐹, 𝐺] = [ , 𝐺] + [𝐹, ]
∂𝑡 ∂𝑡 ∂𝑡
(vii) [𝐹, [𝐺, 𝐾]] + [𝐺, [𝐾, 𝐹]] + [𝐾, [𝐹; ; 𝐺]] = 0 (Jacobi's identity)
Fundamental Poisson Bracket
(i) {𝒒𝒊 , 𝒑𝒋 } = 𝜹𝒊𝒋
Which gives
{𝑥 , 𝑝𝑥 } = 1, {y , 𝑝𝑦 } = 1, {z , 𝑝𝑧 } = 1
(2) {𝒒𝒊 , 𝒒𝒋 } = 𝟎
Which gives
{𝑥, 𝑥} = 0, {𝑦, 𝑦} = 0, {𝑧 , 𝑧} = 0
{𝑥, 𝑦} = 0, {𝑦 , 𝑧} = 0, {𝑧, 𝑥} = 0
{x, 𝑧} = 0, {𝑦, 𝑥} = 0, {𝑧, 𝑦} = 0
(3) {𝒑𝒊 , 𝑷𝒋 } = 𝟎
Which gives
{𝑃𝑟 , 𝑥 } = 0
{𝑃𝜃 , 𝑃𝜙 } = 0
{𝑃𝜙 , 𝑃𝑧 } = 0
{𝑃𝜃 , 𝑃𝑟 } = 0
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𝟏
Q1) If the Lagrangian of a simple pendulum is 𝑳 = 𝒎𝒍𝟐 𝜽˙𝟐 −
𝟐
𝒎𝒈𝒍(𝟏 − 𝐜𝐨𝐬 𝜽) then find {𝜽, 𝜽˙} =?
Solution:
The Lagrangian of a simple pendulum is
1
𝐿 = 𝑚𝑙2 𝜃˙ 2 − 𝑚𝑔𝑙(1 − cos 𝜃)
2
Generalized coordinate is 𝜃
The conjugate momentum corresponding to coordinate 𝜃 is 𝑃𝜃
∂𝐿
⇒ 𝑃𝜃 =
∂𝜃˙
𝑃𝜃 = 𝑚ℓ2 𝜃˙
𝑃𝜃
𝜃˙ = 2
𝑚𝑙
𝑝𝜃
{𝜃, 𝜃˙} = {𝜃, }
𝑚𝑙2
1 1
{𝜃, 𝜃˙} = {𝜃 , 𝑝𝜃 } =
𝑚𝑙2 𝑚𝑙2
Properties of Levicivita tensor(𝝐𝒊𝒋𝒌 )
(1) if any two index are equal then it is zero
𝜖𝑖𝑘𝐾 = 0, 𝜖𝑖𝑗𝑖 = 0, 𝜖122 = 0
(2) If we interchange any two adjacent indices then it will be a -
ve sign.
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𝜖𝑖𝑗𝑘 = −𝜖𝑖𝑘𝑗
𝜖𝑗𝑘𝑙 = −𝜖𝑘𝑗𝑙 = (−1)(−1)𝜖𝑘𝑙𝑗 = 𝜖𝑘𝑙𝑗
(3) If indices are in cyclic order, then it's value is same
𝜖𝑖𝑗𝑘 = 𝜖𝑗𝑘𝑖 = 𝜖𝑘𝑖𝑗
(4) 𝜖𝑗𝑗𝑘 × 𝜖𝑖𝑗𝑘 = 6
(s) 𝜖𝑖𝑗𝑘 − 𝜖𝑖𝑙𝑚 = 𝛿𝑗𝑙 ⋅ 𝛿𝑘𝑚 − 𝛿𝑗𝑚 𝛿𝑘𝑙
(6) 𝜖𝑖𝑗𝑘 ⋅ 𝜖𝑖𝑗𝑙 = 2𝛿𝑘𝑙
(7) if 123 are in cyclic order then 𝜖123 = 1 and if not cyclic then
𝜖132 = −1.
𝜖231 = 1
𝜖312 = 1
𝜖213 = −1
Angular Momentum (L)
➱ 𝐿⃗ = r × 𝑃⃗
L = 𝐿𝑥 𝑖ˆ + 𝐿𝑦 𝚥ˆ + 𝐿𝑧 𝑘ˆ = 𝐿1 𝚥ˆ + 𝐿2 𝚥ˆ + 𝐿3 𝑘ˆ
𝐿𝑥 = 𝑦𝑝𝑧 − 𝑧𝑝𝑦
𝐿𝑦 = 𝑧𝑝𝑥 − 𝑥𝑝𝑧
𝐿𝑧 = 𝑥𝑝𝑦 − 𝑦𝑝𝑥
( Or)
𝐿1 = 𝑥2 𝑝3 − 𝑥3 𝑝2
𝐿2 = 𝑥3 𝑝1 − 𝑥1 𝑝3
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𝐿3 = 𝑥1 𝑝2 − 𝑥2 𝑝1
Problems discussed in the class
.
.
.
.
Exercise Problems
Ex:1
Find the value of Poisson bracket of {𝐿𝑧 , 𝑦}
Ex:2
Find the value of Poisson bracket of {𝐿𝑧 , 𝑃𝑧 }
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Ex:3
Find the value of Poisson bracket of {𝐿𝑧 , 𝐿𝑥 }
Ex:4
Find the value of Poisson bracket of [𝑎 ⋅ 𝑟, 𝑏⃗ ⋅ 𝑝]
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Ex:5
The value of {(𝑎 ⋅ 𝑟)2 , 𝑏⃗ ⋅ 𝑝}
Example:6 Hamiltonian of classical 1-D Harmonic oscillator is
1
𝐻 = (𝑝2 + 𝑥 2 ). Calculate the total time derivative of dynamical
2
quantity (𝑝 + √2𝑥)
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Example:7 The Hamiltonian of a system with two degrees of
freedom is 𝐻 = 𝑞1 𝑝1 − 𝑞2 𝑝2 + 𝑎𝑞12 , where 𝑎 > 0 is constant.
Calculate the value of 𝜆 such that function 𝑞1 𝑞2 + 𝜆𝑝1 𝑝2 is a
constant of motion.
Example: A system with time independent Hamiltonian 𝐻(𝑞, 𝑝)
has two constant of motion 𝑓(𝑞, 𝑝) and 𝑔(𝑞, 𝑝). Then which of the
following Poisson brackets are always zero?
(i) {𝐻, 𝑓 + 𝑔}
(ii) {𝐻, {𝑓, 𝑔}}
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(iii) {𝐻 + 𝑓, 𝑔}
(iv) {𝐻, 𝐻 + 𝑓𝑔}
(a) 𝑖 − 𝑜𝑛𝑙𝑦 (b) 𝑖𝑖𝑖 − 𝑜𝑛𝑙𝑦
(c) i & iii (d) i, iii & iv
Importance of Poisson Bracket
(1) Hamilton's equation takes a very easy and convenient form
in terms of Poisson bracket.
∂𝐻
𝑞˙ = = {𝑞, 𝐻}
∂𝑝
− ∂𝐻
𝑝˙ = = {𝑝, 𝐻}
∂𝑞
Proof: Discussed in the class
(2) It helps to seek and identify constant of motion.
(3) Poisson bracket remains Invariant under canonical
Transformation.
Theorem: The Poisson bracket of two constant of motion 𝐴(𝑞, 𝑝)
and 𝐵(𝑞, 𝑝) is also a constant of motion.
Proof:
since
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𝑑𝐴 ∂𝐴
= {𝐴, 𝐻} +
𝑑𝑡 ∂𝑡
𝑑𝐵 ∂𝐵
= {𝐵, 𝐻} +
𝑑𝑡 ∂𝑡
Given that 𝐴 and 𝐵 is constant of motion and doesn't depend
upon time explicitly.
Means {𝐴. 𝐻} = 0 & {𝐵, 𝐻} = 0
Now using Jacobi identity
{𝐴, {𝐵, 𝐶}} + {𝐵, {𝐶, 𝐴}} + {𝐶, {𝐴, 𝐵}} = 0
Putting 𝐶 = 𝐻
{𝐴, {𝐵, 𝐻}} + {𝐵, {𝐻, 𝐴}} + {𝐻, {𝐴, 𝐵}} = 0
⇒ 0 + 0 + {𝐻, {𝐴, 𝐵}} = 0
{𝐻, {𝐴, 𝐵}} = 0
⇒ {𝐴, 𝐵} is also a constant of motion.
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