Generalized coordinates and their "conjugate" momenta. These are the basic dynamical variables used to describe mechanical systems in Hamiltonian mechanics: h

Generalized coordinates and their "conjugate" momenta. These are the basic dynamical variables used to describe mechanical systems in Hamiltonian mechanics: https://en.wikipedia.org/wiki/Hamiltonian_mechanics https://en.wikipedia.org/wiki/Hamiltonian_mechanics For certain systems (e.g., particles in euclidean space interacting via conservative forces dependent only on position), the momenta coincide with velocity, but mathematically they are different objects: velocities are vectors, and momenta are covectors. They transform differently under coordinate transformations. I wish I knew a concise self-contained exposition off the top of my head, but I don't. You can probably find something on-line. I think there's likely a discussion in Structure and Interpretation of Classical Mechanics (Sussman & Wisdom): https://mitpress.mit.edu/sites/default/files/titles/content/sicm_edition_2/book.html https://mitpress.mit.edu/sites/default/files/titles/content/... Try looking up "cotangent bundles" (mathematical name for the type of spaces appropriate for Hamiltonian mechanics, formulated in terms of generlized coordinates and momenta) and "tangent bundles" (more appropriate for Lagrangian mechanics, formulated in terms of generalized coordinates and velocities).