This book provides an easy introduction to the theory of differentiable manifolds.
Table of Contents
1. Calculus preliminaries; 2. Differential manifolds; 3. Submanifolds; 4. Differentiability; 5. Tangent spaces and maps; 6. Tangent bundles as manifolds; 7. Partial derivatives; 8. Deriving Langrange's equations; 9. Form of Langrange's equations; 10. Vectorfields; 11. Langrangian vectorfields; 12. Flows; 13. The spherical pendulum; 14. Rigid bodies.
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