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1 Introduction 2 Basic Principles 3 Relative Motion 4 Dynamics of a System of Particles 5 Analytical Mechanics: Basic Concepts 6 Analytical Mechanics: Additional Concepts 7 Rigid-Body Geometry 8 Rigid Body Kinematics 9 Rigid Body Dynamics: Basic Concepts 10 Rigid Body Dynamics: Advanced Concepts 11 Qualitative Analysis of Rigid Body Motion 12 Dynamics of Lightly Flexible Bodies Appendices A A History of Mechanics B Concepts from the Calculus of Variations C Common Mass Moments of Inertia