The Gravitational Hamiltonian in the Presence of Non-Orthogonal Boundaries

This paper generalizes earlier work on Hamiltonian boundary terms by omitting the requirement that the spacelike hypersurfaces $\Sigma_t$ intersect the timelike boundary $\cal B$ orthogonally. The expressions for the action and Hamiltonian are calculated and the required subtraction of a background contribution is discussed. The new features of a Hamiltonian formulation with non-orthogonal boundaries are then illustrated in two examples.