Master the conceptual, theoretical and practical aspects of kinematics with this exhaustive text, which provides a rigorous analysis and description of general motion in mechanical systems, with numerous examples from spinning tops to wheel ground-vehicles. Over 400 figures illustrate the main ideas and provide a geometrical interpretation and a deeper understanding of concepts, and exercises and problems throughout the text provide additional hands-on practice. Ideal for students taking courses on rigid body kinematics, and an invaluable reference for researchers.