The Euler-Lagrange equations in cylindrical coordinates areThe last two follow because ϕ and z are cyclic coordinates. They give the conserved quantitiesSince the Lagrangian is autonomous, its energy function is conserved as well:The velocity-linear term cancels from this energy, but it still changes the equations of motion. A dimensionless logarithm means log(R/R0) for some fixed reference length; replacing the printed logR by that expression changes the Lagrangian only by a total time derivative and shifts the numerical value of k, not the trajectory.
R¨=Rϕ˙2−RCz˙,dtd(R2ϕ˙)=0,z¨=RCR˙.
ℓ=R2ϕ˙,k=z˙−ClogR.
E=R˙∂R˙∂L+ϕ˙∂ϕ˙∂L+z˙∂z˙∂L−L=21(R˙2+R2ϕ˙2+z˙2).
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