A clear exposition of the dynamics of mechanical systems from an engineering perspective. This new edition includes revised sections to enhance understanding, added examples and homework problems and a thorough development of computational methods for solving the differential equations of motion for constrained systems.

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"It is clear that a student who masters all the material in this book will have a very good basis for doing research on a wide range of subjects...a good reference book for libraries and students of mechanics..." Applied Mechanics Reviews

"Especially notable is the development of rotation transformations for describing the position and orientation of rigid bodies in spatial motion." Mechanical Engineering

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