I'm currently trying to pre-familiarise myself with the course on lagrangian dynamics I'll be taking in the upcoming year, by reading the course notes supplied. I'm somewhat getting the hang of it, but I could really do with some more indepth discussion about the whys and wherefores. Could someone suggest a good introductory book with plenty of clear discussion? Problems and examples are secondary at this point, though of course if they make the reasoning clearer they're hunky dory. I've heard various people mention Goldstein; could someone give the full title to make it a little bit easier for me to find?