An Introduction to Lagrangian Mechanics - Brizard, Alain J (Saint Michael's College, Usa)
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Offers a historical perspective on the Lagrangian method by presenting Fermat's Principle of Least Time as well as the principles of Maupertuis, Jacobi, and d'Alembert that preceded Hamilton's formulation of the Principle of Least Action, from which the Euler-Lagrange equations of motion are derived.

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Offers a historical perspective on the Lagrangian method by presenting Fermat's Principle of Least Time as well as the principles of Maupertuis, Jacobi, and d'Alembert that preceded Hamilton's formulation of the Principle of Least Action, from which the Euler-Lagrange equations of motion are derived.