Edward J. Haug: Computer Aided Kinematics and Dynamics of Mechanical Systems (Allyn and Bacon, 1989)

Chapter 1 Elements of Computer Aided Kinematics and Dynamics
Part I
Chapter 2 Planar Vectors, Matrices, and Differential Calculus
Chapter 3 Planar Cartesian Kinematics
Chapter 4 Numerical Methods in Kinematics
Chapter 5 Planar Kinematics Modeling and Analysis
Chapter 6 Dynamics of Planar systems
Chapter 7 Numerical Methods in Dynamics
Chapter 8 Planar Dynamic Modeling and Analysis
Part II
Chapter 9 Spatial Cartesian Kinematics
Chapter 10 Spatial Kinematic Modeling and Analysis
Chapter 11 Dynamics of Spatial Systems
Chapter 12 Spatial Dynamic Modeling and Analysis