This is exactly what I was going to reply when I saw the GP. SICM is a brilliant book I've only started that revolves around putting concrete understanding ahead of notation. Unlike most books of that type, this one is a seriously advanced math/physics work. At world class universities, upper division undergrads in Physics can study Lagrangian Mechanics in their third year if their calculus is good enough.
One note from the excellent introduction focused how to learn math (q.v.): "In his book on mathematical pedagogy [15], Hans Freudenthal argues that the reliance on ambiguous, unstated notational conventions in such expressions as f(x) and df(x)/dx makes mathematics, and especially introductory calcu- lus, extremely confusing for beginning students; and he enjoins mathematics educators to use more formal modern notation."
One note from the excellent introduction focused how to learn math (q.v.): "In his book on mathematical pedagogy [15], Hans Freudenthal argues that the reliance on ambiguous, unstated notational conventions in such expressions as f(x) and df(x)/dx makes mathematics, and especially introductory calcu- lus, extremely confusing for beginning students; and he enjoins mathematics educators to use more formal modern notation."
Plus, Lisp!