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The brilliant and colorful Richard Feynmann devoted one of his famous lectures to this, as "entertainment" separate from his other lectures.
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Mathematical rigor was added to this concept in 1835 by the Irish mathematician and scientist William Rowan Hamilton.
 
Mathematical rigor was added to this concept in 1835 by the Irish mathematician and scientist William Rowan Hamilton.
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The brilliant and colorful Richard Feynmann devoted one of his famous lectures to this, as "entertainment" separate from his other lectures.<ref>https://www.feynmanlectures.caltech.edu/II_19.html#:~:text=%E2%80%9CSo%2C%20for%20a%20conservative%20system,minimum%E2%80%94maybe%20it's%20a%20maximum.</ref>
 
== See also ==
 
== See also ==
 
*[[Lagrangian]]
 
*[[Lagrangian]]
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