Any undergraduate classical mechanics text book such as this one should cover it: http://www.amazon.com/Classical-Dynamics-Particles-Systems-Thornton/dp/0534408

Any undergraduate classical mechanics text book such as this one should cover it: http://www.amazon.com/Classical-Dynamics-Particles-Systems-Thornton/dp/0534408966 http://www.amazon.com/Classical-Dynamics-Particles-Systems-T...