Presented here in this work are the basic concepts, methods, and mathematical developments which are necessary to understand spacecraft attitude dynamics and control. This book is a comprehensive and self-contained treatment with emphasis on the practical aspects of the subject. It is a 'road map' to the field of spacecraft dynamics and control, which contains all essential elements of kinematics, rigid body dynamics, linear control theory, environmental effects, and the theory of the stability of motion, all in a single volume. This book is based on the author's more than forty years of industrial and teaching experience and can be used as a textbook in aerospace engineering courses at either the senior or the first-year graduate school level.The Spacecraft Attitude Dynamics, 2008 Reprint with Corrections, Supplement and CD ROM augments the original material published in 1991 by correcting errors and presenting a Supplement that reviews recent trends in dynamics and control of small satellite systems and tethers in space. Also, included is a CD- ROM the objective of which is to provide view points and guidelines for solving selected problems in the text. Spinners and a menu are employed to enhance the learning experience by providing numerical results for ranges of input parameters to selected problems. Moreover, a faculty CD-ROM is also available that presents complete solutions to the problems of interest.