Sorcerer said:
Here’s my favorite way. (Ibknow the discussion has moved on, but OP asked for a quick and easy derivation, so here is one way to do it that seems to work).Start with a spatial differential dx. Then divide by proper time (so that everyone agree with what you do going foward).
From there, use the usual kinemetics. Multiply by mass to get momentum, take the time derivative to get force, integrate over distance to use the work-energy theorem to get an expression for kinetic energy, then notice that kinetic energy = total energy minus potential energy, and you’re pretty much done.
I'm sure I've seen this done for the rectilinear case (though I can't remember where), but I thought I'd give it a crack for the general case. The idea is that one has already obtained the equation for relativistic momentum ##\vec p = \gamma m \vec v## and plugs it into the "work" side of the work-energy theorem to see what pops out on the "energy" side. Using ##\vec f = \dot{\vec p} = mc^2 \, d(\gamma \vec \beta)/d(ct)##:
$$\begin{split}
\int^{\vec r_f}_{\vec r_i} \vec f \cdot d \vec r &= mc^2 \int^{\vec r_f}_{\vec r_i} \dfrac{d (\gamma \vec \beta)}{c \, dt} \cdot d \vec r \\[3pt]
&= mc^2 \int^{\vec \beta_f}_{\vec \beta_i} \vec \beta \cdot \left( \gamma \, d \vec \beta + d \gamma \, \vec \beta \right),
\end{split}$$
where
$$\begin{split}
d \gamma &= d \left[ \left( 1 - \vec \beta \cdot \vec \beta \right)^{-1/2} \right] \\[3pt]
&= \dfrac{1}{2} \left(1 - \vec \beta \cdot \vec \beta \right)^{-3/2} \, d ( \vec \beta \cdot \vec \beta ) \\[3pt]
&= \gamma^3 ( \vec \beta \cdot d \vec \beta ) ,
\end{split}$$
so
$$\begin{split}
\int^{\vec r_f}_{\vec r_i} \vec f \cdot d \vec r &= mc^2 \int^{\vec \beta_f}_{\vec \beta_i} \vec \beta \cdot \left[ \gamma \, d \vec \beta + \gamma^3 ( \vec \beta \cdot d \vec \beta ) \vec \beta \right] \\[3pt]
&= mc^2 \int^{\vec \beta_f}_{\vec \beta_i} \Bigl[ \gamma \left( 1 + \gamma^2 \beta^2 \right) \Bigr] ( \vec \beta \cdot d \vec \beta ) \\[3pt]
&= mc^2 \int^{\vec \beta_f}_{\vec \beta_i} \gamma^3 ( \vec \beta \cdot d \vec \beta ) \\[3pt]
& = mc^2 \int^{\gamma_f}_{\gamma_i} d \gamma \\[3pt]
&= mc^2 \Delta \gamma \\[3pt]
&= mc^2 + mc^2 \Delta \left( \dfrac{1}{2}\,\beta^2 + \frac {3}{8} \, \beta^4 + \frac{5}{16} \, \beta^6 + \frac{35}{128} \, \beta^8 + \dots \right),
\end{split}$$
where the ##\beta^2## term suggests calling everything in the parentheses "kinetic energy" ##E_k## and the invariant first term "rest energy" ##E_0##. Then it makes sense to define ##\gamma mc^2 = \gamma E_0 \equiv E## as the total energy, and:
$$E^2 - (pc)^2 = (\gamma E_0)^2 - (\gamma \beta E_0)^2 = E_0^2,$$
though I suppose one might like to know whether ##E## is indeed conserved before calling it "energy."
I think I prefer to "justify" the existence of rest energy by Einstein's own reasoning (from his original ##E = mc^2## paper): if a body at rest emits identical light waves in opposite directions, then its kinetic energy remains the same in this frame (zero), but it loses energy nevertheless.