My background is electrical engineering, but I've recently become fascinated with the principle of least action. I've gone to library to look at a few books on the subject, but I've quickly become overwhelmed. Is there a good book/video lectures on Lagrangian Mechanics for somebody who knows calculus, but is not a mathematician. I've never had a course in Abstract Algebra, Set Theory, Manifolds, etc. Perhaps something aimed at undergraduates. I learn best through examples, so worked out problems are a plus!