This updated and revised fourth edition covers all topics in mechanics from elementary Newtonian mechanics, canonical and rigid body mechanics to relativistic mechanics and nonlinear dynamics. In particular, symmetries and invariance principles, geometrical structures and continuum mechanics play an important role. This book will enable the reader to develop general principles from which equations of motions may be derived, to understand the importance of symmetries as a basis for quantum mechanics and to get practice in using theoretical tools and concepts that are essential for all branches of physics. The book contains numerous problems with complete solutions, and some practical examples.This will be appreciated in particular by students using the text to accompnay lectures on mechanics. The book ends with some historical remarks on important pioneers in mechanics.