Below is the Shiv Rudrashtakam book scan in Sanskrit.
Shri Rudrashtakam in English
Namami Shamishaan Nirvaan Roopam| Vibhum Vyapakam Brahm Veda Swaroopam||
Nijam Nirgunam Nirvikalpam Nireeham| Chidakaash Maakash Vaasam Bhajeham||
Nirakaar Omkar Moolam Turiyam| Giragyaan Goteet Meesham Girisham||
Karaalam Mahakaal Kaalam Kripalam| Gunagaar Sansaar Paaram Naatoham||
Tusharaadri Sankaash Gauram Gabheeram| Manobhoot Koti Prabha Shi Shareeram||
Sfooranmauli Kallolini Charu Ganga| Lasadbhaal Baalendu Kanthe Bhujanga||
Chalatkundalam Bhru Sunethram Vishaalam| Prasannananam Neelkantham Dayalam||
Mrigadheesh Charmaambaram Mundamaalam| Priyam Shankaram Sarvanaatham Bhajaami||
Prachandam Prakrishtam Pragalbham Paresham| Akhandam Ajambhaanukoti Prakaasham||
Trayahshool Nirmoolanam Shoolpaanim| Bhajeham Bhawani Patim Bhaav Gamyam||
Kalateet Kalyaan Kalpantkaari| Sada Sajjanaanand Daata Purari||
Chidaanand Sandoh Mohapahari| Praseed Praseed Prabho Manmathari||
Nayaavad Umanath Paadaravindam| Bhajanteeha Lokey Parewa Naraanaam||
Na Tawatsukham Shaantisantapnaasham| Praseed Prabho Sarvabhootadhivaasam||
Na Jaanaami Yogam Japam Naiva Poojaam| Na Toham Sada Sarvada Shambhu Tubhhyam||
Jarajanm Dukhhaudya Taapatyamaanam| Prabho Paahi Aapan Namaami Shri Shambho||
|| Rudrashtakamidam Proktam Vipren Hartoshaye ||
|| Ye Pathanti Naraa Bhaktaya Teyshaam Shambhu Praseedati ||
Written by Goswami Tulsidas Ji
One of the best Rudrashtakam I have heard is at: Rudrashtakam on YouTube. Though the singer makes a few mistakes in pronunciation and substitutes words, the music and way of singing is great. Another mesmerizing tune can be heard on the Devon Ke Dev Mahadev Serial on Life OK.
Thanks to Manoj Publications: This is the page scans from their book Shiv Chalisa.
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