Past exam of the mathematics course of the University of Cambridge / 2015 / ii / Paper 2 / 12C / a

The canonical momentum is $p=L_{\dot{q}}$, and a regular Legendre transform in mechanics defines $H(q,p,t)=p\dot{q}-L(q,\dot{q},t)$ after solving for $\dot{q}$. Its differential isbecause the $d\dot{q}$ terms cancel. With the Euler-Lagrange equation $\dot{p}=L_q$, this gives Hamilton's equationsIn particular $H_q=-L_q$ at corresponding velocities, so a cyclic coordinate for the Lagrangian is also cyclic for the Hamiltonian.