Beginning with the formula used to derive Euler dynamical equations which relates rate of change of a vector with time with reference to the fixed frame to that in a rotating frame, along with its preliminaries and applications the book discusses Eulerian, Lagrangian and Hamiltonian approaches to generalized motion on rigid body in sequential chapters, emphasizing how one approach was extended and simplified by other one. The last chapter deals with canonical transformations from one phase space to other one, and invariance of certain properties including Poisson beackerts.