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Coopersmith, J. (2017-05-11). Lagrangian Mechanics. In  (Ed.), The Lazy Universe: An Introduction to the Principle of Least Action. : Oxford University Press,. Retrieved 20 May. 2019, from https://www.oxfordscholarship.com/view/10.1093/oso/9780198743040.001.0001/oso-9780198743040-chapter-6.