This textbook describes in detail the classical theory of dynamics, a subject fundamental to the physical sciences, which has a large number of important applications. The author's aim is to describe the essential content of the theory, the general way in which it is used, and the basic concepts that are involved. No deep understanding can be obtained simply by examining theoretical considerations, so Dr Griffiths has included throughout many examples and exercises. This then is an ideal textbook for an undergraduate course for physicists or mathematicians who are familiar with vector analysis.