>>2
This, it takes pages of Lagrange'ian equations until the first Scheme is presented, and without a formal education in physics, I don't know how to get that. Even Wikipedia says (https://en.wikipedia.org/wiki/Structure_and_Interpretation_of_Classical_Mechanics):
The book is used at the Massachusetts Institute of Technology to teach a class in advanced classical mechanics, starting with Lagrange's equations and proceeding through canonical perturbation theory.
I'll be waiting for Software Design for Flexibility.