Using the Hamiltonian Method for Constrained Motion on a Cylinder Surface

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motion with constrain help!

how do i use the hamiltonian method to find the equation of motion of a particle of mass h constrained to move on the surface of a cylinder defined by G2+t2=u2, where u is a constant. and the particle is subject to a force directed towards the origin and proportional to the distance of the particle from the origin: F=-kr.
 
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