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Because $u^0=c,dt/d\tau =\gamma c$ is constant, $dt/d\tau =\gamma$. The coordinate speed along the circle is consequentlysoFor the convention in the question, take $qB>0$, so $\omega >0$ and $\Delta \tau =2\pi /\omega$.

On the circular solution, the free part of the relativistic charged-particle action isIn the gauge $A_y=Bx$, the interaction is the closed line integralThe orbit is clockwise for $qB>0$, so $\oint xdy=-\pi R^2$. ThusCombining the two terms and using ${\gamma }^2{v}^2=c^2({\gamma }^2-1)$ gives the charged-particle action over one relativistic cyclotron orbitAlthough the intermediate magnetic line integral depends on the chosen magnetic vector potential, the closed-orbit result is gauge invariant.