





13 



Brief Review of 2.003 



Uniaxial motion, fixedaxis rotation; first and second order systems; natural and forced response; transfer functions, zeroes, poles; elementary control: openloop, closedloop; closing the loop alters the natural and forced response characteristics; stability and instability. 












45 



Impulse Response 



Collisions; conservation of momentum; conservation of energy; coefficient of restitution; bouncing ball in the presence of air drag. 












69 



Planemotion Kinematics of Rigid Bodies 



Combined translation and rotation of rigid body; angular velocity; generalized coordinates; common constraints. Kinetic energy of rigid body. 












1015 



Planemotion Dynamics of Rigid Bodies 



Linear and angular momentum principles for systems including rigid bodies; derivingequations of motion using momentum principles; conservation of energy; linearization in the neighbourhood of equilibrium, stability and instability; rolling cylinder inside rollinghoop; inverted pendulum on cart. 












1618 



Vibrations of TwoDegreeofFreedom Systems 



Natural modes and the eigenvalue problem; free and forced response to harmonic excitation; damping effects; Bode plots. 












1924 



Control of Systems with Rigid Bodies 



Actuators, sensors; P, D, I feedbackloop strategies; rootlocus design; application to inverted pendulum on cart, automatic selfbalancing scale; frequencydomain design methods, gain margin, phase margin. 





