This course deals with dynamics and control of mechanical systems. The main contents of the dynamics portion of the course are modeling and representation of rigid bodies in 3D space using position and orientation (rotation matrices, Euler angles, quaternions), system of rigid bodies with constraints, linear and angular velocities and accelerations of connected rigid bodies, inertia and external forces and moments acting on a rigid body, derivation and numerical solution of equations of motion obtained using Newton-Euler and Lagrangian approach, and small or ``linearized’’ motion. The control part of the course starts with modeling and analysis of single-input-single-output (SISO) systems using state-space methods following naturally from the linearized equations of motion of the mechanical systems. The course also deals with design of controllers using state-space methods and the key concepts of stability, controllability and observability in linear systems. The control part also shows the connection to the traditional root locus and Bode plots used in analysis and design of single-input-single-output linear systems. This course involves use of Matlab for numerical simulations and introduces multi-body modeling and simulation tools such as Simscape.