Sussman, Gerald Jay; Wisdom, Jack; Mayer, Meinhard E. (2001). Structure and Interpretation of Classical Mechanics. Cambridge, Massachusetts: MIT Press.  0262194554. OCLC 45223598.

Sussman, Gerald Jay; Wisdom, Jack (6 February 2015). Structure and interpretation of classical mechanics (Second ed.). Cambridge, Massachusetts: MIT Press.  9780262028967. OCLC 905916340.

with open access link on publisher site; direct link to HTML from there.

on co-author Gerald Sussman's site

MIT OpenCourseWare class materials for course 6.946, Fall 2008.