Spacecraft and Payload Pointing provides an overview of what is involved in developing the attitude determination and control system (ADACS) for a spacecraft, including payload pointing. Such systems can require knowledge of a large diversity of disciplines for two reasons. First, the ADACS itself is a broad subject, including the dynamics of the spacecraft and payloads, the physics and engineering of the ADACS sensor and actuator hardware, control and filtering theory, plus systems engineering. Second, many disciplines are involved since the ADACS must interface with several other subsystems (notably payload, structure, and command and data handling [C&DH]) and because ADACS performance translates into key mission performance parameters such as pointing control. This book aims to show how the disciplines fit together. The subject can be examined from two basic points of view. The first is that of the systems engineer. This view focuses on requirements, requirements flowdowns, and verification. In it, the onboard hardware and software are regarded as black boxes, defined by their functions, reliability, etc. The other standpoint is that of the physicist or engineer who focuses on what is involved in actually getting these items to work. This view includes actions such as quantifying feasible performance levels, learning how they can be improved, and understanding their fundamental limitations.