This book is intended for students of common engineering taking a fundamental course in mechanics. The material in this book is tailored in a concise manner for teaching the major contents of Dynamics in one semester. Students will be guided in studying the concepts and fundamental principles of Dynamics through the study of planar motion of particles and rigid bodies. Throughout the book, vector is used as a basic mathematical tool. The authors believe that basic training in vector analysis will be of great help to students to understand in depth the concepts and principles in Planar Dynamics. Students will be equipped with the basic knowledge for further study in the broad field of engineering.