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This course was born with the vocation of being a tool for the training of engineers in continuum mechanics. In fact, it is the fruit of the experience in teaching this discipline during many years at the Civil Engineering School of the Technical University of Catalonia (UPC/BarcelonaTech), both in undergraduate degrees (Civil Engineering and Geological Engineering) and postgraduate degrees (Master and PhD courses). Unlike other introductory texts to the mechanics of continuous media, the work presented here is specifically aimed at engineering students. We try to maintain a proper balance between the rigor of the mathematical formulation used and the clarity of the physical principles addressed, although always putting the former at the service of the latter.