Dynamics and Control I

Photo of a tarantula spider on a frisbee.

Multiple frames of reference help explain the position, velocity and acceleration of a spider on a spinning frisbee. See the video for lecture 2 and the reading on kinematics for more on this introductory problem. (Frisbee photo courtesy of Crys Mascarenas; spider photo courtesy of B. Smith. Collage by MIT OpenCourseWare.)


MIT Course Number

2.003J / 1.053J

As Taught In

Fall 2007



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Course Description

Course Features

Educator Features

Course Description

This class is an introduction to the dynamics and vibrations of lumped-parameter models of mechanical systems. Topics include kinematics; force-momentum formulation for systems of particles and rigid bodies in planar motion; work-energy concepts; virtual displacements and virtual work; Lagrange's equations for systems of particles and rigid bodies in planar motion; linearization of equations of motion; linear stability analysis of mechanical systems; free and forced vibration of linear multi-degree of freedom models of mechanical systems; and matrix eigenvalue problems. The class includes an introduction to numerical methods and using MATLAB® to solve dynamics and vibrations problems.

This version of the class stresses kinematics and builds around a strict but powerful approach to kinematic formulation which is different from the approach presented in Spring 2007. Our notation was adapted from that of Professor Kane of Stanford University.

Other Versions

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Other OCW Versions

These different OCW versions provide complementary materials, including lecture videos, detailed lecture notes, and many sample problems.

Related Content

Nicholas Makris, Peter So, Sanjay Sarma, and Yahya Modarres-Sadeghi. 2.003J Dynamics and Control I. Fall 2007. Massachusetts Institute of Technology: MIT OpenCourseWare, https://ocw.mit.edu. License: Creative Commons BY-NC-SA.

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