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This updated Open Access edition is based on differential-algebraic equation solution methods that represent the dynamics of mechanical systems that are reliably solved numerically with established Runge-Kutta methods not available at the time of the previous edition. Lagrange multipliers are introduced to represent constraint reaction forces needed in component design and to represent the effects of friction. The book retains its field-tested basis methods for analysis of the kinematics and dynamics of planar and spatial systems, using a Cartesian coordinate approach that is applicable to broad classes of mechanisms and machines. The approach emphasizes systematic methods that are used in computer formulation and solution of governing equations on kinematics and dynamics, thus removing the burden of routine derivation and computation from the engineer. Dr. Haug presents a broadly applicable kinematics formulation for holonomic systems that obtains differential-algebraic equation models of mechanical system dynamics, making the text ideal for practicing engineers working in a range of industries in mechanical and aerospace engineering and engineering mechanics as well as students pursuing degrees.