Kinematics is a branch of dynamics that studies aspects of motion apart from considerations of masses and forces. Essentially, Kinematics is a collection of vector/matrix methods to describe positions, velocities and accelerations of particles and rigid bodies, as viewed from various reference frames. The sub-eld of Particle Kinematics considers only the motion of particles. This in itself can be quite challenging at times. As an example, consider a person driving a car on the highway. The road itself is xed to a constantly rotating Earth which in turn is orbiting the sun.