Take endpoint-preserving variations , with . The first variation of the functional is ; integration by parts supplies the differential equation and its conserved quantity below.
The boundary term vanishes, so stationarity and the fundamental lemma of the calculus of variations give the Euler-Lagrange equation
If is independent of , then and the Euler-Lagrange equation reduces to . Therefore the first integral isThis is the conserved generalized momentum for a cyclic coordinate.
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