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Adopting a step by step methodical approach, the book is aimed at first and second year undergraduates and addresses the mathematical difficulties faced by them. Solution manual free from: http://www.mech.port.ac.uk/sdalby/mbm/CTFRSoln.htm * Adopts a step-by-step methodical approach in explaining the dynamics of mechanical systems* Addresses the mathematical difficulties faced by first and second year undergraduates