Since Lagrange laid the foundation of analytical dynamics some two centuries ago, the discipline has continued to evolve and develop, embracing the theories of Hamilton and Jacobi, Einstein's relativity theory and advanced theories of classical mechanics. This text proposes to give graduate students in science and engineering a strong background in the more abstract and intellectually satisfying areas of dynamical theory. It is assumed that students are familiar with the principles of vectorial mechanics and have some facility in the use of this theory for analysis of systems of particles and for rigid-body rotation in two and three dimensions. After a concise review of basic concepts in Chapter 1, the author proceeds from Lagrange's and Hamilton's equations to Hamilton-Jacobi theory and canonical transformations. Topics include d'Alembert's principle and the idea of virtual work, the derivation of Langrange's equation of motion, special applications of Lagrange's equations, Hamilton's equations, the Hamilton-Jacobi theory, canonical transformations and an introduction to relativity. Problems included at the end of each chapter will help the student greatly in solidifying his grasp of the principal concepts of classical dynamics. An annotated bibliography at the end of each chapter, a detailed table of contents and index, and selected end-of-chapter answers complete this highly instructive text.