Structure and Interpretation of Classical Mechanics(mitpress.mit.edu)
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Structure and Interpretation of Classical Mechanics
https://mitpress.mit.edu/sites/default/files/titles/content/sicm/book-Z-H-4.html#%_toc_start
https://mitpress.mit.edu/sites/default/files/titles/content/sicm/book-Z-H-4.html#%_toc_start