This text provides detailed explanations of fundamental aspects of vibrations, such as the derivation of differential equations. It covers physical interpretation of phenomena using energy methods and includes chapters on vibration control and non-linear vibrations. Detailed coverage of the equivalent systems method allows modelling of all one-degree-of-freedom linear systems by a mass-spring-dashpot system. Striking a balance between mathematical aspects and physical results, the authors emphasize design aspects of the subject. The text is designed for undergraduate courses in vibration taught in departments of mechanical engineering.