Because of its versatility in analyzing a broad range of applications, multibody dynamics has grown in the past two decades to be an important tool for designing, prototyping, and simulating complex articulated mechanical systems. This textbook—a result of the author's many years of research and teaching—brings together diverse concepts of dynamics, combining the efforts of many researchers in the field of mechanics. Bridging the gap between dynamics and engineering applications such as microrobotics, virtual reality simulation of interactive mechanical systems, nanomechanics, flexible biosystems, crash simulation, and biomechanics, the book puts into perspective the importance of modeling in the dynamic simulation and solution of problems in these fields. To help engineering students and practicing engineers understand the rigid body dynamics concepts needed for the book, the author presents a compiled overview of particle dynamics and Newton's second law of motion in the first chapter. A particular strength of the work is its use of matrices to generate kinematic coefficients associated with the formulation of the governing equations of motion. Additional features of the book include: numerous worked examples at the end of each section, introduction of boundary element methods (BEM) in the description of flexible systems, up-to-date solution techniques for rigid and flexible multibody dynamics using finite element methods (FEM), inclusion of MATLAB-based simulations and graphical solutions, in-depth presentation of constrained systems, presentation of the general form of equations of motion ready for computer implementation, two unique chapters on stability and linearization of the equations of motion, supplementary material and solutions manual available upon request.