Define the canonical momentum pi=∂L/∂q˙i and the energy function E=∑ipiq˙i−L. Along an Euler-Lagrange equation solution,Thus an autonomous Lagrangian has conserved E. For a simple harmonic oscillator, L=mx˙2/2−kx2/2 and E=mx˙2/2+kx2/2 is constant. For ordinary time-independent mechanical coordinates this is the total mechanical energy.
dtdE=∑i(p˙i−∂qi∂L)q˙i−∂t∂L=−∂t∂L.
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