A fresh approach to analytical dynamics. Eminently readable, it is written as an introduction, with an emphasis on fundamental concepts in mechanics.

Preface; 1. Introduction; 2. Matrix algebra; 3. The fundamental equation; 4. Further applications; 5. Elements of Lagrangian mechanics; 6. The fundamental equation in generalized coordinates; 7. Gauss's principle revisited; 8. Connections among different approaches; References; Afterword; Index.