This is a textbook for advanced students in engineering or physics, as well as a reference for professionals interested in deriving equations that govern the motions of mechanical systems. It presents Kane's method, which is suited for dealing with multibody systems, and also analyzes the dynamics of complex spacecraft and robotic devices.

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Carlos M. Roithmayr is a senior aerospace engineer in the Systems Analysis and Concepts Directorate at the NASA Langley Research Center in Hampton, Virginia. He earned a Bachelor of Aerospace Engineering degree at the Georgia Institute of Technology, both an M.S. and a Degree of Engineer in Aeronautics and Astronautics from Stanford University, and a Ph.D. in Aerospace Engineering from the Georgia Institute of Technology. He began his career with NASA at the Johnson Space Center in Houston, Texas. His research interests include dynamics of multibody mechanical systems, spacecraft attitude dynamics and control, and orbital mechanics, and he has contributed to a wide variety of Agency projects and missions. He is author or coauthor of numerous refereed journal papers. Dr Roithmayr is a senior member of the American Institute of Aeronautics and Astronautics.

Dewey H. Hodges is a professor of aerospace engineering at the Georgia Institute of Technology. He holds a B.S. in Aerospace Engineering from the University of Tennessee at Knoxville and both M.S. and Ph.D. degrees in Aeronautics and Astronautics from Stanford University. His research interests include aeroelasticity, structural mechanics, rotorcraft dynamics, finite element analysis, and computational optimal control. He has authored or coauthored five books and more than 200 technical papers in refereed journals. Professor Hodges is a Fellow of the American Helicopter Society, the American Institute of Aeronautics and Astronautics, the American Society of Mechanical Engineers, and the American Academy of Mechanics. He serves on the editorial boards of the Journal of Fluids and Structures, the Journal of Mechanics of Materials and Structures, and Nonlinear Dynamics.

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