Dynamics is a branch of applied mathematics concerned with the study of forces and torques and their effect on motion, as opposed to kinematics, which studies the motion of objects without reference to its causes. Dynamics is a subject dealing with conditions of bodies under the action of unbalanced force systems. The phase of dynamics which deals with the study of the motion of bodies without considering the cause of motion is called kinematics. The phase of dynamics which involves the study of the relation between the motion of a body and the force of system causing the motion is called kinetics. A kinematic quantity is a measurable quantity in kinematics, such as time, displacement, velocity, acceleration, and jerk. This textbook provides the fundamental concept necessary for the dynamics, kinematics of rigid body motion and computational fluid dynamics.