Integrable dynamical systems play an important role in many areas of science, including accelerator and plasma physics. An integrable dynamical system with $n$ degrees of freedom (DOF) possesses $n$ nontrivial integrals of motion, and can be solved, in principle, by covering the phase space with one or more charts in which the dynamics can be described using action-angle coordinates. To obtain the frequencies of motion, both the transformation to action-angle coordinates and its inverse must be known in explicit form. However, no general algorithm exists for constructing this transformation explicitly from a set of $n$ known (and generally coupled) integrals of motion. In this paper we describe how one can determine the dynamical frequencies of the motion as functions of these $n$ integrals in the absence of explicitly-known action-angle variables, and we provide several examples.
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