Field Derivation
Assuming we already know the Lagrangian for a charge in an electromagnetic field:
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then according to Lagrange's equation
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we have
.
Comparing this with the Lorentz force equation
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we have
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and
.
If we calculate the curl of E and the divergence of B we will find:
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and
.
The second pair of Maxwell's Equations can be derived in almost the same way, but require more detail. So for convenience we will just list the results:
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and
.
This derivation can be found via the reference [1].
[1] L.D. Landau and E.M.Lifshitz, The Classical Theory of Fields , Revised Second Edition