So, a taste: https://groups.csail.mit.edu/mac/users/gjs/6946/sicm-html/book-Z-H-11.html#%_sec_1.5 https://groups.csail.mit.edu/mac/users/gjs/6946/sicm-html/bo.

So, a taste: https://groups.csail.mit.edu/mac/users/gjs/6946/sicm-html/book-Z-H-11.html#%_sec_1.5 https://groups.csail.mit.edu/mac/users/gjs/6946/sicm-html/bo... "1.5.2 Computing Lagrange's Equations The procedure for computing Lagrange's equations mirrors the functional expression (1.18), where the procedure Gamma implements :58 (define ((Lagrange-equations Lagrangian) q) (- (D (compose ((partial 2) Lagrangian) (Gamma q))) (compose ((partial 1) Lagrangian) (Gamma q))))" Maybe more readable version: https://tgvaughan.github.io/sicm/toc.html https://tgvaughan.github.io/sicm/toc.html Source: https://github.com/tgvaughan/sicm https://github.com/tgvaughan/sicm