Textbook in PDF format Classical Mechanics is a textbook for undergraduate students majoring in Physics (or Mathematics and Physics). The book introduces the main ideas and concepts of Newtonian, Lagrangian, and Hamiltonian mechanics, including the basics of rigid body motion and relativistic dynamics, at an intermediate to advanced level. The physical prerequisites are minimal, with a short primer included in the first chapter. As to the mathematical prerequisites, only a working knowledge of linear algebra, basic multivariate calculus, and the rudiments of ordinary differential equations is expected. Features Numerous exercises and examples A focus on mathematical rigor that will appeal to Physics students wanting to specialize in theoretical physics, or Mathematics students interested in math- ematical physics Sufficient material to service either a one- or two-semester course