Chapters in this book

1. Frontmatter I
2. PREFACE VII
3. PREFACE TO THE SECOND EDITION XI
4. CONTENTS XIII
5. INTRODUCTION XVII
6. CHAPTER I. THE BASIC CONCEPTS OF ANALYTICAL MECHANICS 1
7. CHAPTER II. THE CALCULUS OF VARIATIONS 35
8. CHAPTER III. THE PRINCIPLE OF VIRTUAL WORK 74
9. CHAPTER IV. D'ALEMBERT'S PRINCIPLE 88
10. CHAPTER V. THE LAGRANGIAN EQUATIONS OF MOTION 111
11. CHAPTER VI. THE CANONICAL EQUATIONS OF MOTION 161
12. CHAPTER VII. CANONICAL TRANSFORMATIONS 193
13. CHAPTER VIII. THE PARTIAL DIFFERENTIAL EQUATION OF HAMILTON-JACOBI 229
14. CHAPTER IX. RELATIVISTIC MECHANICS 291
15. CHAPTER X. HISTORICAL SURVEY 341
16. APPENDIX 353
17. BIBLIOGRAPHY 357
18. INDEX 359