It's not a book that I would recommend but the lectures from a course: https://theoreticalminimum.com/courses/classical-mechanics/2...

This should give you plenty of intuition to then tackle SICM.

I'll be honest, it's been a long time since I was studying classical mechanics, but 15 years ago I remember answering a similar question with "read the Feynman Lectures Volume I!" They are the edited version of the intro physics course he gave at CalTech... Here is a link: http://www.feynmanlectures.caltech.edu/I_toc.html

If you've not been previously exposed to stuff like Lagrangians and Hamiltonians, I'd suggest Taylor's Classical Mechanics text, which is quite friendly.