Past exam of the options II course of the University of Oxford / 2013 / G2 / a

For fixed endpoint variations, the Euler-Lagrange equations areIndeed the first variation is $\int {\sum }_i(L_{q_i}\delta q_i+L_{{\dot{q}}_i}\delta {\dot{q}}_i)dt$. Integration by parts removes the derivatives from the variations; their zero endpoint values remove the boundary term. The fundamental lemma then makes every remaining coefficient vanish.