Rigid Body Kinematics and C++ Code  is an eBook in PDF format presenting an integrated approach - perhaps the first in its class - of advanced rigid body Kinematics with the object-oriented C++ code that implements the rigid body objects and brings them to life. The eBook covers the basic material on rigid body Kinematics included in the regular Engineering or Science curricula at most Colleges, as well advanced and reference material for professionals and researchers, and includes links to more advanced material for the curious reader.

The eBook also includes complete, ready-to-use, fully documented and cross-referenced C++ source code for the Families of Classes used in rigid body Kinematics. A course of study on C++ programming for those who are not familiar with the subject is included in Volume 1.

This eBook is Volume 2 of the multi-volume series "Articulated Robot Mechanics and C++ Code."