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Routhian

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The Routhian is a hybrid of the Lagrangian and the Hamiltonian developed by Edward John Routh in the branch of physics known as dynamics. The Hamiltonian can be obtained by a Legendre transform of the Lagrangian; if this transformation is performed only with regards to cyclic coordinates (those not appearing explicitly in the Lagrangian), the result is called the Routhian. This method takes advantage of the ease with which the Hamiltonian deals with cyclic variables.

Wikipedia Inglés http://en.wikipedia.org/wiki/Routhian

Wikipedia Español http://es.wikipedia.org/wiki/Routhian