This book is an introduction to Lagrangian mechanics, starting with Newtonian physics and proceeding to topics such as relativistic Lagrangian fields and Lagrangians in General Relativity, electrodynamics, Gauge theory, and relativistic gravitation. The mathematical notation used is introduced and explained as the book progresses, so it can be understood by students at the undergraduate level in physics or applied mathmatics, yet it is rigorous enough to serve as an introduction to the mathematics and concepts required for courses in relativistic quantum field theory and general relativity.

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This text is based on limiting the ultimate depth achieved in examining the foundations of physics and the fundamental interactions, via a study of electrodynamics and gravitation in order to provide a considerable fraction of the different topics required in one place in a common notation and philosohpy at an undergraduate level.

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