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During a meeting yesterday, a colleague of mine stated that a potential cannot depend upon arbitrary powers of the canonical momentum. So I am curious, is the potential limited to: $$ \Phi = \Phi\left( \mathbf{q}_{0}, \mathbf{q}_{1}, ..., \mathbf{q}_{N}; \ \mathbf{p}_{0}, \mathbf{p}_{1}, ..., \mathbf{p}_{N} \right) $$ or can it be represented as: $$ \Phi = \Phi\left( \mathbf{q}_{0}^{i}, \mathbf{q}_{1}^{j}, ..., \mathbf{q}_{N}^{k}; \ \mathbf{p}_{0}^{l}, \mathbf{p}_{1}^{m}, ..., \mathbf{p}_{N}^{n} \right) $$ where $i$, $j$, $k$, $l$, $m$, and $n$ are arbitrary real numbers? I did not quite follow why they were so certain this could not be so.

I am okay with the answers being purely classical and non-relativistic if that makes the explanation easier/simpler.

Questions

  • Can someone explain why, for instance, $\Phi\left( \mathbf{q}^{i}; \ \mathbf{p}_{0}^{2} \right)$ or $\Phi\left( \mathbf{q}^{i}; \ \dot{\mathbf{q}}_{0}^{2} \right)$ would not be allowed?
  • Is there any physical reason to limit the order of derivatives of $\mathbf{q}$ in the explicit dependence of $\Phi$? Meaning, could $\Phi$ depend upon $\tfrac{d^{K} \mathbf{q}}{dt^{K}}$, where $K$ is an integer $\geq$2?

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NB Your first question is improperly stated as Qmechanic pointed out in his comment. I interpret it in a precise sense: If there is a reason why $\Phi$ is supposed to depend at most linearly on the first derivatives of Lagrangian coordinates.

I guess you are considering generalized Lagrangians of the form $$L(t,q, \dot{q})= T(t,q, \dot{q}) - \Phi(t,q, \dot{q})\:, \tag{-1}$$ for classical systems described in a generalized coordinate system and also taking holonomous ideal constraints into accounts if any. In this case the kinetic energy $T$ takes the form $$T(t,q, \dot{q}) = \sum_{i,j=1}^n A(t,q)_{ij} \dot{q}_i\dot{q}_j + \sum_{j=1}^n B(t,q)_j\dot{q}_j + C(t,q)\:. \tag{0}$$ It turns out that the matrix $A(t,q) = [ A(t,q)_{ij}]_{i,j=1,\ldots, n}$ is symmetric an positively defined and in particular is invertible. Suppose that $$\Phi= \Phi(t,q)$$ If you write down the E-L equations, $$\frac{d}{dt} \frac{\partial L}{\partial \dot{q}_j} - \frac{\partial L}{\partial q_j}=0\:, \quad \frac{dq_j}{dt} = \dot{q}_j\:, \quad j=1,\ldots, n \tag{1}$$ using the fact that $A$ is invertible you see, with a tedious computation, that it is possible to re-write these equations into the precise form $$\frac{d^2q_j}{dt^2} = F_j(t,q, \frac{dq}{dt}) \quad j=1,\ldots,n\:.\tag{2}$$ where in particular, for some functions $G_k$ we have $$F_j(t,q, \frac{dq}{dt}) = \sum_{k=1}^nA(t,q)^{-1}_{jk} G_k(t,q, \frac{dq}{dt})\:. \tag{3}$$ The form (2) of Euler-Lagrange's equations is said to be normal. This is a general notion in the theory of ordinary differential equation systems of order $n$ and just means that

the derivatives of highest order $n$ can be separated, and inserted in the left-hand side, from the derivatives of other orders $n-1, n-2,\ldots, 0$ which appear in the right-hand side in any functional form.

If the right-hand side is sufficiently regular (jointly continuous and locally Lipschitz in the variables $(q, \dot{q})$), the existence and uniqueness theorem establishes that any system of 2nd-order differential equations of the normal form (1) admits a unique (local and global) solution as soon as you fix the state of the system at initial time: $$q(t_0) = Q\quad \dot{q}(t_0) = \dot{Q}\:.$$ This property is the mathematical translation of the determinism principle of classical physics.

The crucial facts to pass from (1) to (2) are that (a) the first time-derivatives $\dot{q}_j$ appear quadratically in (0), (b) they do not appear in $\Phi$ and (c) that $A$ in (0) in invertible.

The same result can be obtained if $\Phi$ is also function of the $\dot{q}_j$, but they appear therein linearly.

Any different dependence, in particular a quadratic dependence of $\dot{q}_j$ in $\Phi$ could give rise to an obstruction to reach the normal form of the Euler-Lagrange equations, so that the principle of physical determinism may fail to be satisfied.

It is worth stressing that linearity in $\dot{q}_j$ appearing in $\Phi$ is only a sufficient condition to fulfill standard hypotheses for the existence and uniqueness theorem. So one may construct physical systems respecting the determinism principle, but described with Lagrangians including potentials with non-linear dependence on $\dot{q}$.

However the only two cases of generalized potentials $\Phi(t,q, \dot{q})$ known in classical physics, the potential of electromagnetic (Lorentz) forces and the potential of general inertial forces respect this linearity constraint.

Inserting time derivatives of order greater that $1$ in $\Phi$ gives rise to the same type of problems regarding the determinism principle, though these higher order derivatives are not completely forbidden and they are used in some semi-classical models, to describe the self-acceleration of an electric charge in particular.