Arfken Weber, Mathematical Methods for Physicists (5th edition, Academic Press, 2005). Chapter 17.

Further Reading:

N. M. J. Woodhouse, Introduction to Analytical Dynamics (1987). Chapter 2 (in particular 2.6). (This is out of print, but still available in most College libraries.)

M. Lunn, A First Course in Mechanics (OUP, 1991). Chapters 8.1, 8.2.

P. J. Collins, Differential and Integral Equations (O.U.P., 2006). Chapters 11, 12.

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