The book contains six chapters. The chapter 1 is introductory in nature. It contains the history and development of the problem. The available literature is also reviewed from Euler (1760) to present day. In Chapter 2, Robe's restricted three body problem is extended to 2 + 2 bodies. The equations of motion of the infinitesimal masses in the dimensionless cartesian coordinates, the equilibrium solutions and their stability are analyzed when the bigger primary is taken as a spherical shell and the smaller a point mass. The application of the problem is the motion of submarines in the Earth Moon system .In Chapter 3, the motion of two infinitesimal masses is analyzed taking the smaller primary an oblate body. In Chapters 4 and 5, the bigger primary is considered as a Roche Ellipsoid and the smaller a point mass and oblate spheroid respectively. In the last chapter the effect of perturbations in the Coriolis and centrifugal forces are investigated.