Ideally, I'd like a comprehensive book that encompasses both subjects: it builds the notion of "space" as related to our physical world (no relativity, though) from the ground up, giving it mathematical rigor (admittedly I am not sure if Euclidean space is in fact what I am looking for), and then develops the theory of particle and rigid body motion, with formal treatments of the different types of motions, such as translational and rotational. There's no need for the book to tackle the kinetics of these motions. Obviously, if it's in there, I won't complain.
Do you know of anything that might fit this description? Thanks.