Square both sides, you'll get another square root on the RHS, isolate it on one side and square both sides again. Then you lost all square roots and you'll be able to solve.
Note: by squaring you may introduce new solutions. You'll have to check those, each expression under a root can't be negative, so cancel out false solutions.
I'm reviewing Meirovitch's "Methods of Analytical Dynamics," and I don't understand the commutation of the derivative from r to dr:
$$
\mathbf{F} \cdot d\mathbf{r} = m \ddot{\mathbf{r}} \cdot d\mathbf{r} = m\mathbf{\dot{r}} \cdot d\mathbf{\dot{r}}
$$