If you're using the natural logarithm, its usually better to use \ln or \log_e rather than \log which can be interpreted in other ways (for example as \log_{10} or as a log with unspecified base) depending on context.
I'm reviewing Meirovitch's "Methods of Analytical Dynamics," and I don't understand the commutation of the derivative from r to dr:
$$
\mathbf{F} \cdot d\mathbf{r} = m \ddot{\mathbf{r}} \cdot d\mathbf{r} = m\mathbf{\dot{r}} \cdot d\mathbf{\dot{r}}
$$