Ok, so it goes on though. This text develops the Hamiltonian in generalized coordinates:
H(q_1, ... , q_{3N}, p_1, ..., p_{3N}) = \frac{1}{2} \sum_{\alpha=1}^{3N} \sum_{\beta=1}^{3N}p_\alpha G^{-1}_{\alpha\beta}(q_1,...,q_{3N}) p_\beta + U(\mathbf r_1(q1,...,q_{3N}),...,.\mathbf...