Press your lips together. Air flows through your nose. Vocal cords vibrate.

Americans pronounce mineralogy as mih-nuh-RAH-luh-jee (/ˌmɪnəˈrɑlədʒi/). Stress falls on the third syllable — keep everything else short and quick. You'll hear it in sentences like "He is an expert in mineralogy and crystal structures".
Record yourself saying "mineralogy" and play it back. The mic stays on your device — nothing's uploaded.
5 syllables, 10 sounds. Tap a syllable to jump to its row, then explore each sound's mouth shape and how it's made.
The schwa before R disappears — R becomes the vowel of the syllable. This is the 'er' sound without a distinct vowel before it.

Relax your lips and drop your jaw significantly. The tongue tip lightly touches behind the bottom front teeth and the back part of the tongue presses down a little to create more dark space in the back of the mouth.

Place the tip of your tongue against the alveolar ridge just behind your top front teeth, the same contact point as /t/, /d/, and /n/. The difference is what happens to the air: for /l/, you let it flow continuously around the <em>sides</em> of the tongue (that's why /l/ is called a lateral). Turn your voice on the whole time. Lips stay relaxed, no rounding or flaring. For the Dark L variant at the end of a syllable, also pull the back of the tongue up and back toward the soft palate.

Relax your lips, jaw, and tongue completely. Drop your jaw slightly and keep the tongue neutral.
The textbook way isn't wrong — it's just not how anyone actually says it.
Stress falls on the third syllable, not the others. Stretch RAH — keep everything else short and quick.
Don't pronounce the first syllable too fully. The unstressed syllable reduces to a schwa — the lazy "uh" sound — in casual speech.