Thoroughly class-tested, this book focuses on the modelling and analysis of linear as well as nonlinear dynamical systems with emphasis on electrical, mechanical, and electromechanical systems. The readers are first introduced to the methods and techniques for translating a physical problem into mathematical language by formulating differential equations. Nowtonian, Lagrangian, and Hamiltonian methods are introduced, along with the method of bond graphs. Solutions of differential equations, both by analytical as well as numerical methods then follow, with an emphasis on developing a geometric understanding of dynamics in the state space. As well as drawing from the methods used in the study of nonlinear dynamics, this text also illustrates the application of these methods in the context of engineering systems. This book also covers discrete-time dynamical systems and methods of analyzing discrete dynamics. Each chapter contains numerous solved examples, a summary, and a set of problems.