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This text offers a clear and refreshing exposition of the dynamics of mechanical systems from an engineering perspective. Basic concepts are thoroughly covered, then applied in a systematic manner to solve problems in mechanical systems that have recognisable applications to engineering practice. All theoretical discussions are accompanied by numerous illustrative examples, and each chapter offers a wealth of homework problems. The treatment of the kinematics of particles and rigid bodies is extensive. In this new edition, the author has revised and reorganized sections to enhance understanding of physical principles, and he has modified and added examples, as well as homework problems. The new edition also contains a thorough development of computational methods for solving the differential equations of motion for constrained systems.