The authors include systems from at least two disciplines in some depth to illustrate the commonality of the modeling and analysis techniques, to encourage students to avoid compartmentalizing their knowledge and prepare them to work on projects as part of an interdisciplinary team. Linear models are developed in terms of state-variable equations, input-output differential equations and transfer functions. Emphasizes such concepts as damping ratios, time constants, poles and zeros, mode and frequency-response functions. This revision demonstrates how to apply specific computer packages to linear and nonlinear models. Contains nearly 200 examples and over 400 end-of-chapter problems.