Lagrangian Mechanics of Systems with \(L=T-V\)

Moving to constrained systems with many degrees of freedom, standard Lagrangian theory is addressed, at a level appropriate to teach even at the undergraduate level. However, the particular focus on underlying topics of reasonable difficulty for students is kept for two issues: (i) Moving constraints and accelerated reference frames, and (ii) Galilean invariance, for which derivations normally absent in standard texts, or even a correction of a common misconception, are presented.