 Solution

Use the Hamiltonian vector field convention ${\iota }_{X_t}\omega =d{H}_t$, which is forced by the sign of the formula in this part. This is the opposite of the default sign in the linked general article. Since $d\lambda =-\omega$, Cartan's magic formula givesDifferentiate the pullback of a differential form along the smooth isotopy and integrate from $0$ to $t$:Thus the required exact differential form has the explicit primitive