The course discusses fundamentals of linear dynamics, kinetics and kinematics, of particles and rigid bodies; both in 2-D and 3-D. 3-D rotation is emphasized. Lagrangian, Newtonian, and Euler dynamics are discussed as applied to variety of rigid body problems. Hamilitonian principles are also discussed. Topics include  -Review of Kinetics and Kinematics of Particles,  And Planar Rigid Bodies, 3D Rotation, Angular Velocity, Time Derivative of a Vector -Five-Term Acceleration Equation, Coriolis Acceleration, Phase Portrait, Virtual Work, D’A Lembert Principle, Lagrange Equations of Particles,  Conservative Forces, Linearization, Free Vibration, Hamiltonian’s Principle, Lagrange Equations of Rigid Bodies, Cyclic Variables, Hamiltonian, Lagrange Multiplier, Hamilton Canonical Equations, Ruth Equations, Moment of Inertia, Principals Directions, Euler Angles, Euler Equations.