It is advantageous to have the ability to exploit both the Lagrangian & Hamiltonian formulations simultaneously for systems that involve a mixture of cyclic and non-cyclic coordinates. The equations o...It is advantageous to have the ability to exploit both the Lagrangian & Hamiltonian formulations simultaneously for systems that involve a mixture of cyclic and non-cyclic coordinates. The equations of motion for each independent generalized coordinate can be derived independently of the remaining generalized coordinates. Thus it is possible to select either Hamiltonian or Lagrangian formulations for each generalized coordinate, independent of what is used for the other generalized coordinates.
