A dynamic warm up is an important integral part to any serious training regimen, and should be performed following myofascial work (self massage/foam rolling) and prior to training.
Demonstrated in this video are a series of multiplanar movements aimed to increase range of motion, mobility, blood flow, while decreasing the risks for pulling/injuring muscles.
[youtube=http://www.youtube.com/watch?v=wO5CFtRs9lw&w=560&h=315]