Classical Dynamics: A Contemporary Approach

In the first few decades following World War 11, the graduate Classical Mechanics course, although still recognized as fundamental, was barely considered important in its own right to the education of a physicist: it was thought of mostly as a peg on which to hang quantum physics, field theory, and many-body theory, areas in which the budding physicist was expected to be working. Textbooks, including SC, concentrated on problems, mostly linear, both old and new, whose solutions could be obtained by reduction to quadrature, even though, as is now apparent, such systems form an exceptional subset of all classical dynamical systems. In those same decades the subject itself was undergoing a rebirth and expanding, again in strong interaction with developments in mathematics. There has been an explosion in the study of nonlinear classical dynamical systems, centering in part around the discovery of novel phenomena such as chaos. (In its new incarnation the subject is often also called Dynamical Systems. particularly in its mathematical manifestations.) What made substantive new advances possible in a subject as old as classical mechanics are two complementary developments. The first consists of qualitative but powerful geometric ideas through which the general nature of nonlinear systems can be studied (including global, rather than local analysis). The second, building upon the first, is the modern computer, which allows quantitative analysis of nonlinear systems that had not been amenable to full study by traditional analytic methods. Unfortunately the new developments seldom found their way into Classical Mechanics courses and textbooks. There was one set of books for the traditional topics and another for the modern ones, and when we tried to teach a course that includes both the old and the new, we had to jump from one set to the other (and often to use original papers and reviews). In this book we attempt to bridge the gap: our main purpose is not only to bring the new developments to the fore, but to interweave them with more traditional topics, all under one umbrella. That is the reason it became necessary to do more than simply update SC. In trying to mesh the modern developments with traditional subjects like the Lagrangian and Hamiltonian formulations and Hamilton-Jacobi theory we found that we needed to write an entirely new book and to add strong emphasis on nonlinear dynamics. As a result the book differs significantly not only from SC, but also from other classical textbooks such as Goldstein's. The language of modern differential geometry is now used extensively in the literature, both physical and mathematical, in the same way that vector and matrix notation is used in place of writing out equations for each component and even of indicia1 notation. We therefore introduce geometric ideas early in the book and use them throughout, principally in the chapters on Hamiltonian dynamics, chaos, and Hamiltonian field theory. Although we often present the results of computer calculations, we do not actually deal with programming as such. Nowadays that is usually treated in separate Computational Physics courses. Because of the strong interaction between classical mechanics and mathematics, any modern book on classical mechanics must emphasize mathematics. In this book we do not shy away from that necessity. We try not to get too formal, however, in explaining the mathematics. For a rigorous treatment the reader will have to consult the mathematical literature, much of which we cite.