Classical time crystals

We consider the possibility that classical dynamical systems display motion in their lowest-energy state, forming a time analogue of crystalline spatial order. Challenges facing that idea are identified and overcome. We display arbitrary orbits of an angular variable as lowest-energy trajectories for nonsingular Lagrangian systems. Dynamics within orbits of broken symmetry provide a natural arena for formation of time crystals. We exhibit models of that kind, including a model with traveling density waves.