The analysis, design, and control of many practical engineering systems require analysis of rigid bodies in three dimensions, e.g. gyroscopes, amusement park rides, space vehicles, and robots. The aim of this unit is to develop skills and techniques to analyse the behaviour of mechanical systems in three dimensions using both Newton-Euler and Lagrangian approaches. This capstone unit builds upon the concepts of 2D kinematics and kinetics from earlier units (EGB211, EGB321) and introduces Lagrangian methods, which are powerful tools in developing equations of motion for complex engineering systems.