This course is about simulation and animation of the 3D motion of rigid and deformable objects. The course aims to introduce graduate and advanced undergraduate students to efficient numerical methods for simulating and visualizing motion and deformation. Contents of the course is the following: Numerical integration, equations of rigid body motion and deformation, constrained dynamics and collisions, contact, elasticity fundamentals, 3D deformable objects, cloth (2D) and hair (1D) modeling, fracture mechanics, acoustic modeling, fluids and smoke simulations, numerical linear algebra issues, interfacing animations with real- time control, man-machine interfaces, and multi- disciplinary interactions, rendering and computer graphics, data-driven approaches, and nondynamical applications.