Automobiles, space structures, robots, and machines are examples of mechanical and structural systems that consist of interconnected rigid and deformable components. The dynamics of these large-scale, multibody systems are highly nonlinear, presenting complex problems that in most cases can only be solved with computer-based techniques. This book provides an introduction to the subject of multibody dynamics, with an emphasis on flexible body dynamics. The first chapter covers the basic ideas of kinematics and dynamics of rigid and deformable bodies. The book then moves on to advanced topics, including finite element formulations, and concludes with a clear, careful explanation of newer computational techniques. With its wealth of examples and practical applications, this book will be useful to graduate students, researchers, and practising engineers working with a wide variety of flexible multibody systems.