Physics and engineering departments are building research programmes in biological physics. This text focuses on results in molecular motors, self-assembly and single-molecule manipulation that have revolutionized the field, and integrates these topics with classical results. The book also provides foundational material for the emerging field of nanotechnology. The text is built around a self-contained core geared toward undergraduate students who have had one year of calculus-based physics. Additional "Track 2" sections contain more advanced material for senior physics undergraduates and graduate students.