First published in 1987, this text offers concise but clear explanations and derivations to give readers a confident grasp of the chain of argument that leads from Newton laws through Lagrange equations and Hamilton principle, to Hamilton equations and canonical transformations. This new edition has been extensively revised and updated to include: A chapter on symplectic geometry and the geometric interpretation of some of the coordinate calculations. A more systematic treatment of the conections with the phase-plane analysis of ODEs; and an improved treatment of Euler angles. A greater emphasis on the links to special relativity and quantum theory showing how ideas from this classical subject link into contemporary areas of mathematics and theoretical physics. A wealth of examples show the subject in action and a range of exercises – with solutions – are provided to help test understanding.