Short description A modern account of the mathematical techniques, physical theories and applications of rigid body mechanics, emphasizing the fundamentals, while stressing the importance of notation and integrating the modern geometric view of mechanics plus a wide variety of examples.
From the contents 1 Rotations 2 Kinematics, Energy and Momentum 3 Dynamics 4 Constrained Systems 5 Integrable Systems 6 Numerical Methods 7 Applications Appendix A Spherical Trigonometry B Elliptic Functions C Lie Groups and Lie Algebras
