The course focuses on developing the equations of motion for dynamic systems composed of multiple, connected and unconnected, rigid bodies using Kane's method and the Lagrangian approach. The resulting model is used to simulate and visualize the predicted motion. Topics include kinematics, Euler parameters, kinematic constraints, virtual work, the calculus of variations, energy, momentum, contact, impact, and checking functions. Also ofered as ME 5338. Credit will be granted only once.