# Tag Info

I will yet add another formalism: Lets start with the hamiltonian form of Hamilton's Principle. Let $c: \mathbb R \longrightarrow T^*Q; t\mapsto (q(t),p(t))$ be the trajectory of a particle in the phase space of the configuration space $Q$, we define a subset of $Q$, $C$, where no contac occur between the particles, and $\partial C$ is te set of ponts wer ...