The text is organised into five chapters. After a comprehensive introduction to the terminologies of dynamical systems and generalised coordinates, Lagrange's equations of motion for holonomic systems, conservative and non-holonomic systems are developed. The author then presents a detailed treatment of Euler-Lagrange equation, equations of motion of rigid bodies and Hamilton's equations of motion, suitably reinforced with examples to enhance learning. Finally, canonical transformations and Hamilton's equations of motion in Poisson's bracket are discussed along with Hamilton-Jacobi theory and Hamilton-Jacobi equation for Hamilton's principal function. Numerous worked-out examples included throughout the text and end-of-chapter exercises will be of considerable help in compre-hending the application of the principles to physical problems.