book recommendations, Lagrangian Formalism

Hello,
I am searching for a good book, going a little bit more indepth teaching the lagrangian formalism. Especially looking at threedimensional problems. I read many books about technical dynamics (e.g Engineering Mechanics: Dynamics by Hibbeler) but it only teaches it in 2D. I am having trouble finding the generalized forces / torques for threedimensional problems. A nice book with some exercises + solutions would be very fitting for me.

Greetings,
Tukan

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