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This book develops a modern presentation of Continuum Mechanics, oriented towards numerical applications in the fields of nonlinear analysis of solids, structures and fluid mechanics. The kinematics of the continuum deformation, including pull-back / push-forward transformations between different configurations, stress and strain measures, balance principles, constitutive relations and variational principles are developed using general curvilinear coordinates. Even though the mathematical presentation of the different topics is quite rigorous, an effort is made to link formal developments with engineering physical intuition.