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The first chapter presents the necessary mathematical background. The second chapter concerns kinematics. Chapter 3 deals with classical Lagrangian and Hamiltonian mechanics (here classical refers to the Euclidean space \\(\\mathbb{R}^n\\)). Starting with Chapter 4 the curved framework is considered. Chapter 4 is devoted to \\((S^1)^n\\), Chapter 5 to \\((S^2)^n\\), Chapter 6 to the Lie group \\(\\mathrm{SO}(3)\\) and Chapter 7 to the Lie group \\(\\mathrm{SE}(3)\\). Having these settings at hand, Chapter 8 is devoted to the general Lagrangian and Hamiltonian dynamics on manifolds. Chapter 9 turns to the rigid and multi-body systems while the last chapter concerns with deformable multi-body systems. There are two appendices: {``Fundamental lemmas of the calculus of variations''} and {``Linearization as an approximation to Lagrangian dynamics on a manifold''}. Each chapter ends with problems and exercises.  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