It's not a book that I would recommend but the lectures from a course: https://theoreticalminimum.com/courses/classical-mechanics/2011/fall https://theoreticalm

It's not a book that I would recommend but the lectures from a course: https://theoreticalminimum.com/courses/classical-mechanics/2011/fall https://theoreticalminimum.com/courses/classical-mechanics/2... This should give you plenty of intuition to then tackle SICM.