(a) Let $(\mathbf{q}, \mathbf{p})$ be a set of canonical phase-space variables for a Hamiltonian system with $n$ degrees of freedom. Define the Poisson bracket $\{f, g\}$ of two functions $f(\mathbf{q}, \mathbf{p})$ and $g(\mathbf{q}, \mathbf{p})$. Write down the canonical commutation relations that imply that a second set $(\mathbf{Q}, \mathbf{P})$ of phase-space variables is also canonical.

(b) Consider the near-identity transformation

$$\mathbf{Q}=\mathbf{q}+\delta \mathbf{q}, \quad \mathbf{P}=\mathbf{p}+\delta \mathbf{p}$$

where $\delta \mathbf{q}(\mathbf{q}, \mathbf{p})$ and $\delta \mathbf{p}(\mathbf{q}, \mathbf{p})$ are small. Determine the approximate forms of the canonical commutation relations, accurate to first order in $\delta \mathbf{q}$ and $\delta \mathbf{p}$. Show that these are satisfied when

$$\delta \mathbf{q}=\epsilon \frac{\partial F}{\partial \mathbf{p}}, \quad \delta \mathbf{p}=-\epsilon \frac{\partial F}{\partial \mathbf{q}}$$

where $\epsilon$ is a small parameter and $F(\mathbf{q}, \mathbf{p})$ is some function of the phase-space variables.

(c) In the limit $\epsilon \rightarrow 0$ this near-identity transformation is called the infinitesimal canonical transformation generated by $F$. Let $H(\mathbf{q}, \mathbf{p})$ be an autonomous Hamiltonian. Show that the change in the Hamiltonian induced by the infinitesimal canonical transformation is

$$\delta H=-\epsilon\{F, H\} .$$

Explain why $F$ is an integral of motion if and only if the Hamiltonian is invariant under the infinitesimal canonical transformation generated by $F$.

(d) The Hamiltonian of the gravitational $N$-body problem in three-dimensional space is

$$H=\frac{1}{2} \sum_{i=1}^{N} \frac{\left|\mathbf{p}_{i}\right|^{2}}{2 m_{i}}-\sum_{i=1}^{N-1} \sum_{j=i+1}^{N} \frac{G m_{i} m_{j}}{\left|\mathbf{r}_{i}-\mathbf{r}_{j}\right|}$$

where $m_{i}, \mathbf{r}_{i}$ and $\mathbf{p}_{i}$ are the mass, position and momentum of body $i$. Determine the form of $F$ and the infinitesimal canonical transformation that correspond to the translational symmetry of the system.