Generalized Hamiltonian dynamics
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The author’s procedure for passing from the Lagrangian to the Hamiltonian when the momenta are not independent functions of the velocities is put into a simpler and more practical form, the main results being obtained by a direct solution of the equations provided by the consistency requirements. It is shown how, under certain conditions, one can eliminate some of the degrees of freedom and so make a substantial simplification in the Hamiltonian formalism.
[1] James L. Anderson,et al. Constraints in Covariant Field Theories , 1951 .