Lagrangian Mechanics

Abstract

My original set of lectures on Mechanics was divided into three parts: Lagrangian Mechanics, Hamiltonian Mechanics, Equivariant Mechanics. The present text is an order of magnitude expansion of the first part and is differential geometric in character, the arena being the tangent bundle rather than the cotangent bundle. I have covered what I think are the basics. Points of detail are not swept under the rug but I have made an effort not to get bogged down in minutiae. Numerous examples have also been included.