"Rigid Airframe Dynamics" is oriented toward computer simulation and applies rigorous nonlinear dynamic equations, which current desktop computers can easily handle. This work bypasses the laborious process of linearization and the exhaustive analysis of linearized equations. Linearized analysis is used selectively to build insights and is checked against the full computer simulation. Here is a reference work for practitioners in flight simulation that can be a course text. It provides in-depth coverage of kinematics and dynamics of 6DOF, including some recently published material. The text covers the mathematics and physics of the subject and modelling. Coding issues are treated in appendices.