This text is mainly for ME and Aero and EE but the main perspective is ME at the junior or senior- level. The author has taken pains to supply the appropraite mathematical level, through good engineering examples, problems and applicaitons. There is also a strong tie to software computer computation and system simulation. cusotmer are looking for a book that does not intrudtuce LaPlace transforms too early in the discussion, or in too heavy manner. Therefore MATLAB and Simulink examples are supplied on disk with the book. Working MOdel can also be used since it is a motion modeling and analysis tool. Students can use these scripted problems in the text an with scripted versions of these on a CD-ROM. Other resources like projects and quizz questions will be placed on an accompanying web site.