Part I. Dynamics of a Single Particle: 1. Kinematics of a particle; 2. Kinetics of a particle; 3. Lagrange’s equations of motion for a single particle; Part II. Dynamics of a System of Particles: 4. The equations of motion for a system of particles; 5. Dynamics of systems of particles; Part III. Dynamics of a Single Rigid Body: 6. Rotation tensors; 7. Kinematics of rigid bodies; 8. Constraints on and potentials for rigid bodies; 9. Kinetics of a rigid body; 10. Lagrange’s equations of motion for a single rigid body; Part IV. Systems of Rigid Bodies: 11. Introduction to multibody systems; Appendix 1: Background on tensors; Bibliography; Index.