Prob.2.

2
Ref : Goldstein, §§9.3-4.

2-D

Theory
d r d θ d pr d pθ = det M d x d y d px d py
Let
R = { r, θ, pr , pθ } X = {x, y, px , py }
→ d4 R = det M d4 X
∂ Ri
Mi j =
∂ Xj

x = r cos θ y = r sin θ
     
x = r cos θ - r θ sin θ y = r sin θ + r θ cos θ
1 1  
L= m  x 2 + y 2  = m  r2 + r2 θ 2 
2 2
∂L  ∂L 2

∴ pr =  = m r pθ =  = mr θ
∂r ∂θ
y
r= x 2 + y2 θ = tan-1
 
x
 xx + y y  x y - y x
r= θ=
x 2 + y2
x 2 + y2
x px + y py
∴ pr = pθ = x py - y px
x 2 + y2

y x px + y py
→ R= x 2 + y2 , tan-1 , , x py - y p x 
x
x 2 + y2

Code
Clear["Global`*"]

r= x 2 + y2

X = {x, y, px, py};

R = {r, θ, pr, pθ};

y x px + y py
R2X = r → x2 + y2 , θ → ArcTan , pr → , pθ → x py - y px
x 2 2
x +y

RX = R /. R2X
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d r d θ d pr d pθ = det M d x d y d px d py
M = ∂# RX & /@ X // Simplify // MatrixForm

(* dω is invariant under the transform *)

Det[M] // Simplify

3-D

Theory
(a) ---------------------------------------------------------------
d r d θ d ϕ d pr d pθ d pϕ = det M d x d y d z d px d py d pz
Let
R = { r, θ, ϕ, pr , pθ , pϕ } X = {x, y, z, px , py , pz }
→ d6 R = det M d6 X
∂ Ri
Mi j =
∂ Xj

x = r sin θ cos ϕ y = r sin θ sin ϕ z = r cos θ

   
x = r sin θ cos ϕ + θ r cos θ cos ϕ - ϕ r sin θ sin ϕ
   
y = r sin θ sin ϕ + θ r cos θ sin ϕ + ϕ r sin θ cos ϕ
  
z = r cos θ - θ r sin θ
1 1  2
L = m  x 2 +y 2 +z 2  = m  r2 +r2  θ2 +sin2 θ ϕ  

2 2
∂L  ∂L  ∂L 
∴ pr =  = m r pθ =  = m r2 θ pϕ = 2 2
 = m r sin θ ϕ
∂r ∂θ ∂ϕ

x 2 + y2 y
r= x 2 + y 2 + z2 θ = tan-1 ϕ = tan-1
z x
  
 x x + y y + z z  z (x x + y y) - x2 + y2  z  x y - y x
r= θ= ϕ=
x 2 + y2
x 2 + y2 + z 2  x 2 + y2 + z 2  x 2 + y2

x px + y py + z pz z (x px + y py ) - x2 + y2  pz
∴ pr = pθ = pϕ = x py - y px
x 2 + y2 + z 2 x 2 + y2

→
x 2 + y2 y x px + y py + z pz z (x px + y py ) - x2 + y2  pz
R= x 2 + y2 + z2 , tan-1 , tan-1 , , , x py - y p x 
z x 2 2 2 2 2
x +y +z x +y

(b) ---------------------------------------------------------------
1   2 1 p2θ p2ϕ
K= m  r2 +r2  θ2 +sin2 θ ϕ   = p2r + +
2 2m r2 r2 sin2 θ
 [Link] 3

For f(x, p) = f(x, K):

d ω = d r d θ d ϕ d pr d pθ d pϕ H = K + U
〈 f 〉 = ∫ d ω e-β H f(x, K ) = ∫ d r d θ d ϕ e-β U ∫ d pr d pθ d pϕ e-β K f(x, K )

˜ pθ ˜ pϕ ˜ 1 ˜ ˜
Let pθ = , pϕ = & K=K=  p2r + p2θ + p2ϕ 
r r sin θ 2m

˜ ˜ ˜ ˜
→ 〈 f 〉 = ∫ d r d θ d ϕ r 2 sin θ e-β U ∫ d pr d p θ d p ϕ e-β K fx, K
= ∫ d r d θ d ϕ r 2 sin θ e-β U f (x)
= ∫ d3 x e-β U f (x)
˜ ˜ ˜ ˜
where f (x) = ∫ d pr d p θ d p ϕ e-β K fx, K

Code
Clear["Global`*"]

X = {x, y, z, px, py, pz};

R = {r, θ, ϕ, pr, pθ, pϕ};

X2Rt = x → r[#] Sin[θ[#]] Cos[ϕ[#]] &,

y → r[#] Sin[θ[#]] Sin[ϕ[#]] &, z → r[#] Cos[θ[#]] &

R2Xt = r → x[#]2 + y[#]2 + z[#]2 & ,

x[#]2 + y[#]2
θ → ArcTan & ,
z[#]

y[#]
ϕ → ArcTan & 
x[#]
(* R' in terms of X' *)
# '[t] & /@ R /. R2Xt // Simplify

1
L= m x '[t]2 + y '[t]2 + z '[t]2  /. X2Rt // Simplify
2
(* pr ,pθ ,pϕ *)
∂# L & /@ {r '[t], θ '[t], ϕ '[t]} /. R2Xt // Simplify

x 2 + y2 y
R2X = r → x2 + y2 + z2 , θ → ArcTan , ϕ → ArcTan ,
z x
x px + y py + z pz z (x px + y py) - x2 + y2  pz
pr → , pθ → , pϕ → x py - y px
x 2 + y2 + z2 x 2 + y2

RX = R /. R2X
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d r d θ d ϕ d pr d pθ d pϕ = det M d x d y d z d px d py d pz
M = ∂# RX & /@ X // Simplify // MatrixForm

(* dω is invariant under the transform *)

Det[M] // Simplify