Write for cylindrical radius in this question, not the rod's mass density. A charged relativistic particle in a time-independent magnetic field has the charged-particle electromagnetic Lagrangian
with zero electrostatic potential. The cylindrical speed is . Inside a uniform axial field, choose the symmetric magnetic vector potential , . Its cylindrical curl gives . Hence
In a field-free region far from either end one can use , recovering the requested outside expression. The question's is a velocity-dependent generalized potential, not electrostatic potential energy.
There is an important end-field qualification. A finite axial field that jumps to zero with no radial component would violate Gauss's law for magnetism. The consistent near-axis idealisation is the solenoid fringe field from an axisymmetric vector potential, , giving and . The piecewise Lagrangian is its hard-edge limit and retains fringe impulses through the jump in . Those impulses are essential to the focusing calculation.

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