Hi there everyone. I am a programmer not long out of University and i have a really keen interest in a particular physics engine. Physics is far beyond my current range of ability and so is alot of maths :( but i have spent a long time trying to get some kind of an entry point. Firsty right back at the start. If i am talking about these concepts, what exactly do i need to look for a book on? LinearVelocity LinearDamping AngularVelocity AngularDamping Motors Joints - Prismatic, Revolute, Distance Torque Impulse Force Mass Collision These concepts are applied to only 2d rigid bodies such as Circles or Polygons. It is clear that this is some form of physics, but as a beginner, where can i go to find a book on this subject? If books are likely to be too complex, where do i need to start from to begin with? I have some broad understanding of what each of these concepts do but the next portion i find mind blowing is the maths. All of this stuff seems to work with Scalars or Vectors. I spent all morning on Amazon looking for 2d Vector maths but i couldnt come up with anything relevant. To give an example of why i need Vector maths, lets take a brick  now pretend this brick is a car wheel. I need to figure out the angle of the brick, the linear velocity of the brick and i also need to cancel out the "Sideways" velocity. Wheels dont roll sideways. I know that by using vectors, i could no doubt find out what forces are acting on the side of the brick and somehow cancel them out but i dont want to just get an answer for this.... i want to understand what i am dealing with. So it seems i have an Interest in Mechicanal Physics and Vector Maths? If i was an alien with no schooling, where would i begin with a book? Do i need to go way back to Trig and start with a full book on trig before i could even begin to understand Vector maths? Also, i guess i need to fully understand Vector maths before i can understand Mechanical physics? Any help would be really really appreciated.... If you guys cant guide me i dont know who can! Cheers, Clark.