A Hamiltonian theory for an elastic earth: Canonical variables and kinetic energy

This paper is the first of a set of four, in which we shall develop the first part of a project dedicated to elaborating a Hamiltonian theory for the rotational motion of a deformable Earth. Here we study only the perturbation due to the deformation of the elastic mantle by tidal body force. In the present paper, we define two canonical systems of variables—we give these variables the names of elastic variables of Euler and Andoyer respectively. Next, using them, we obtain the canonical expression of rotational kinetic energy, which is valid for any Earth model satisfying hypotheses as general as those established in Section 2.