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That's interesting. In my undergraduate degree (which I believe to be fairly standard for the US), Lagrangian and Hamiltonian dynamics were both part of a one-semester classical mechanics course, along with much else. I'm quite envious, though---both Lagrangian and Hamiltonian dynamics are beautiful, and I need a better background.

If you don't mind my asking, where did you do undergrad?

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The University of Edinburgh, Scotland. They were two of my favourite courses, I was amazed at how simple some classes of problems became with the techniques. You should be able to find the course notes somewhere, but I'm not sure if they'd be much value without the lectures.

Ditto for me, though we spent quite a bit of time on Lagrangians and Hamiltonians in that semester.

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