This primer is intended to provide the theoretical background for the standard undergraduate, mechanical engineering course in dynamics. It grew out of the author's desire to provide an affordable compliment to the standard texts on the subject in which the gap between the theory presented and the problems to be solved is oftentimes too large. The book contains several worked examples and at the end of each chapters summaries and exercises to aid the student in their understanding of the chapter. 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.