This Primer is intended to provide the theoretical background for the standard undergraduate, mechanical engineering course in dynamics. The book contains several worked examples and summaries and exercises at the end of each chapter to aid readers in their understanding of the material. Teachers who wish to have a source of more detailed theory for the course, as well as graduate students who need a refresher course on undergraduate dynamics when preparing for certain first year graduate school examinations, and students taking the course will find the work very helpful.