Application of canonical coordinates for solving single-freedom constraint mechanical systems

This paper introduces the canonical coordinates method to obtain the first integral of a single-degree freedom constraint mechanical system that contains conservative and non-conservative constraint homonomic systems. The definition and properties of canonical coordinates are introduced. The relation between Lie point symmetries and the canonical coordinates of the constraint mechanical system are expressed. By this relation, the canonical coordinates can be obtained. Properties of the canonical coordinates and the Lie symmetry theory are used to seek the first integrals of constraint mechanical system. Three examples are used to show applications of the results.