For those who have not seen it, this is based on SCMUTILS -- an open source symbolic manipulation engine, much like Mathematica or Maple. It is extremely powerful, and the book is worth reading just to understand the design patterns used there.
To give an example, in a dozen lines of readable, intuitive code, you can:
* write a lagrangian as a normal Scheme function
* symbolically take derivatives of that to get equations of motion
* print those equations with LaTeX.
* compile those equations to native code and numerically integrate and plot the motion of the system
It's like magic the first time you see it.