In this paper, the equations of motion of a curved and twisted rod are derived from the basic principles of dynamics. The set of equations gives the extensional, flexural and torsional motions of the rod. The coupling among these types of motion due to the curvature and tortuosity of the rod is shown explicitly in the case of a helical spring. By successive simplification of the equations, the equations of motion of a circular ring and those of a straight rod are obtained. In this respect, the derived equations can be considered as a generalization of the elementary theories of rod in extensional, torsional and flexural motion.