Derives Lagrangian mechanics for relativistic particles and fields from the postulates of special relativity, recovering E=mc² and Lorentz invariance of EM equations.
Zee, Quantum Field Theory in a Nutshell: (Second Edition) , In a Nutshell (Princeton University Press, 2010)
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Demystifying the Lagrangians of special relativity
Derives Lagrangian mechanics for relativistic particles and fields from the postulates of special relativity, recovering E=mc² and Lorentz invariance of EM equations.