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ix | |
Acknowledgments |
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xii | |
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1 | (5) |
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2 Prehistory of Variational Principles |
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6 | (32) |
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2.1 Queen Dido and the Isoperimetric Problem |
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6 | (7) |
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2.1.1 Zenodorus's Solution* |
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7 | (6) |
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2.2 Hero of Alexandria and the Law of Reflection |
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13 | (1) |
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2.3 Galileo and the Curve of Swiftest Descent |
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14 | (4) |
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2.4 Bending of Light Rays and Fermat's Minimum Principle |
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18 | (9) |
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2.4.1 Fermat's Method of Maxima and Minima |
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21 | (3) |
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2.4.2 Huygens' Simplified Derivation of Snell's Law |
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24 | (3) |
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2.5 Newton and the Solid of Least Resistance* |
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27 | (11) |
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2.5.1 The Sphere and the Cylinder |
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28 | (2) |
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2.5.2 An Application "in the Building of Ships" |
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30 | (4) |
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2.5.3 The First Genuine Variational Calculation |
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34 | (4) |
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3 An Excursion to Newton's Principia |
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38 | (13) |
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3.1 Newton's Propositions on the Laws of Motion |
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38 | (1) |
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3.2 Geometrical Derivation of Kepler's Laws of Planetary Motion |
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39 | (12) |
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3.2.1 Proposition 1: Equal Areas are Swept Out in Equal Times |
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39 | (2) |
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3.2.2 Proposition 6: The Force Law and the Geometry of the Orbit* |
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41 | (2) |
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43 | (2) |
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3.2.4 Proposition 10: Elliptical Orbit with the Center of Force at the Center of the Ellipse |
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45 | (3) |
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3.2.5 Proposition 11: Center of Force at the Focus of the Ellipse* |
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48 | (3) |
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4 The Optical-Mechanical Analogy, Part I |
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51 | (28) |
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4.1 Bernoulli's Challenge and the Brachistochrone |
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51 | (8) |
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4.1.1 Huygens and the Horologium Oscillatorium |
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52 | (3) |
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4.1.2 Leibniz's Solution of the Brachistochrone |
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55 | (2) |
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4.1.3 Bernoulli's Solution: Particle Paths as Light Rays |
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57 | (2) |
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4.2 Maupertuis, Least Action, and Metaphysical Mechanics |
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59 | (3) |
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4.3 Euler and the Method of Maxima and Minima* |
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62 | (6) |
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4.3.1 Euler's Derivation of Orbits from the Least Action Principle |
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65 | (3) |
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4.4 Examples of the Optical-Mechanical Analogy |
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68 | (4) |
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4.4.1 Conservation of "Angular Momentum" for Light Rays |
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69 | (2) |
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4.4.2 The Terrestrial Brachistochrone |
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71 | (1) |
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4.5 The String Analogy and the Principle of Least Action |
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72 | (7) |
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4.5.1 The Least Action Principle and Stretchable Strings |
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75 | (4) |
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5 D'Alembert, Lagrange, and the Statics-Dynamics Analogy |
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79 | (33) |
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5.1 The Principle of Virtual Work |
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79 | (3) |
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5.2 Statics Meets Dynamics: Bernoulli's Calculation of the Center of Oscillation |
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82 | (3) |
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5.3 D'Alembert's Principle |
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85 | (5) |
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90 | (10) |
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5.4.1 Lagrange's "Scientific Poem" |
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93 | (3) |
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96 | (4) |
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5.5 Lagrange versus d'Alembert: Dissipative and Nonholonomic Systems |
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100 | (5) |
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5.5.1 Dissipation in a Reversible System: Lamb's Model |
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101 | (2) |
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5.5.2 Nonholonomic Systems |
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103 | (2) |
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5.6 Gauss's Principle of Least Constraint |
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105 | (2) |
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5.7 Least Action with a Twist: the Elasticity of the Ether and Maxwell's Equations* |
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107 | (5) |
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6 The Optical-Mechanical Analogy, Part II: The Hamilton-Jacobi Equation |
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112 | (50) |
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6.1 Hamilton's "Theory of Systems of Rays" |
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112 | (7) |
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119 | (9) |
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6.2.1 Fresnel's Equations for Anisotropic Crystals |
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119 | (3) |
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6.2.2 Analytical Derivation of the Wave Surface |
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122 | (2) |
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6.2.3 Hamilton's Derivation of the Conical Cusp |
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124 | (1) |
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6.2.4 Internal Conical Refraction: "The Plum Laid Down on a Table" |
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125 | (3) |
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6.3 Hamilton's Law of Varying Action* |
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128 | (3) |
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6.4 An Example from Hamilton: The Characteristic Function V for a Parabolic Orbit* |
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131 | (3) |
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6.5 Hamilton's "Second Essay on a General Method in Dynamics"* |
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134 | (8) |
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6.5.1 Example: Particle in a Uniform Gravitational Field |
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140 | (2) |
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6.6 Hamilton-Jacobi and Huygens' Principle* |
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142 | (1) |
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6.7 Applications and Examples |
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143 | (6) |
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6.7.1 The Equation of a Light Ray |
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143 | (2) |
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6.7.2 Hamiltonian of the Harmonic Oscillator |
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145 | (1) |
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6.7.3 Hamilton-Jacobi Equation for a Particle in a Magnetic Field |
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146 | (3) |
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6.8 When the Principle of Least Action Loses its "Least" |
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149 | (13) |
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6.8.1 Focus and Kinetic Focus |
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149 | (2) |
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6.8.2 Kinetic Focus for a Free Particle on a Sphere |
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151 | (1) |
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6.8.3 Saddle Paths for the Harmonic Oscillator |
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152 | (2) |
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6.8.4 Kinetic Focus of Elliptic Planetary Orbits |
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154 | (1) |
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6.8.5 Gouy's Phase and Critical Action |
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155 | (3) |
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158 | (4) |
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7 Relativity and Least Action |
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162 | (27) |
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7.1 Simultaneity and the Relativity of Time |
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163 | (3) |
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7.2 The Relativistic "F = ma" |
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166 | (6) |
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7.2.1 The Energy-Momentum Four-Vector |
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169 | (2) |
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7.2.2 Invariance of the Relativistic Action |
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171 | (1) |
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7.3 Hamilton-Jacobi Equation for a Relativistic Particle |
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172 | (1) |
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7.4 The Principle of Equivalence |
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173 | (7) |
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7.4.1 Bending of Light Rays According to the Equivalence Principle |
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176 | (2) |
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7.4.2 Bending of Light Rays, Newtonian Calculation |
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178 | (2) |
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180 | (2) |
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7.6 Weak Gravity around a Static, Spherical Star |
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182 | (4) |
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7.6.1 Precession of the Perihelion of Mercury |
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182 | (3) |
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7.6.2 Bending of the Light Rays in the General Theory |
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185 | (1) |
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7.7 Hilbert's Least Action Principle for General Relativity* |
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186 | (3) |
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8 The Road to Quantum Mechanics |
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189 | (32) |
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8.1 The Need for a New Mechanics |
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189 | (3) |
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8.2 Bohr's `Trilogy" of 1913 and Sommerfeld's Generalization |
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192 | (7) |
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8.2.1 Sommerfeld and the Kepler Problem |
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195 | (3) |
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8.2.2 The Fine Structure of the Hydrogen Spectrum |
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198 | (1) |
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199 | (4) |
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8.4 De Broglie's Matter Waves |
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203 | (2) |
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8.5 Schrodinger's Wave Mechanics |
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205 | (4) |
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8.5.1 The Eikonal Equation |
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206 | (1) |
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8.5.2 Schrodinger's Derivation |
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207 | (2) |
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8.6 Dirac's Lagrangian View of Quantum Mechanics |
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209 | (2) |
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8.7 Feynman's Thesis and Path Integrals |
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211 | (3) |
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8.8 Huygens' Principle in Optics and Quantum Mechanics* |
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214 | (7) |
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8.8.1 First-Order (in Time) Propagator for the Wave Equation |
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215 | (2) |
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8.8.2 Huygens' Principle and Spherical Wavelets |
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217 | (1) |
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8.8.3 Cancellation of the Backwards Wave |
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218 | (3) |
Appendix A Newton's Solid of Least Resistance, Using Calculus |
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221 | (2) |
Appendix B Original Statement of d'Alembert's Principle |
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223 | (1) |
Appendix C Equations of Motion of McCullagh's Ether |
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224 | (1) |
Appendix D Characteristic Function for a Parabolic Keplerian Orbit |
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225 | (2) |
Appendix E Saddle Paths for Reflections on a Mirror |
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227 | (2) |
Appendix F Kinetic Caustics from Quantum Motion in One Dimension |
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229 | (4) |
Appendix G Einstein's Proof of the Covariance of Maxwell's Equations |
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233 | (2) |
Appendix H Relativistic Four-Vector Potential |
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235 | (3) |
Appendix I Ehrenfest's Proof of the Adiabatic Theorem |
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238 | (3) |
References |
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241 | (13) |
Index |
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254 | |