I'm looking for a book/paper/online source where the following formula is shown to be true:
\frac d{dt} \int_{a(t)}^{b(t)} f(t,\tau)d\tau =\int_{a(t)}^{b(t)} \frac {\partial f(t,\tau)}{\partial t} d\tau\,+\, \frac {da(t)}{dt}f(t,a(t))\,-\, \frac {db(t)}{dt}f(t,b(t))
I know one should post...