Relativity group for noninertial frames in Hamilton's mechanics

Abstract

The group E(3)=SO(3) *s T(3), that is the homogeneous subgroup of the Galilei group parameterized by rotation angles and velocities, defines the continuous group of transformations between the frames of inertial particles in Newtonian mechanics. We show in this paper that the continuous group of transformations between the frames of noninertial particles following trajectories that satisfy Hamilton's equations is given by the Hamilton group Ha(3)=SO(3) *s H(3) where H(3) is the Weyl-Heisenberg group that is parameterized by rates of change of position, momentum and energy, i.e. velocity, force and power. The group E(3) is the inertial special case of the Hamilton group.