A diagram of the cart and disk.

A cart and a rolling disk are connected by a rigid massless link of length L. The disk rolls without slipping. What's the force in the link? See Problem Set 9. (Figure by Prof. George Haller.)


MIT Course Number


As Taught In

Fall 2004



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Course Description

Course Features

Course Description

This course reviews momentum and energy principles, and then covers the following topics: Hamilton's principle and Lagrange's equations; three-dimensional kinematics and dynamics of rigid bodies; steady motions and small deviations therefrom, gyroscopic effects, and causes of instability; free and forced vibrations of lumped-parameter and continuous systems; nonlinear oscillations and the phase plane; nonholonomic systems; and an introduction to wave propagation in continuous systems.

This course was originally developed by Professor T. Akylas.

Related Content

George Haller. 2.032 Dynamics. Fall 2004. Massachusetts Institute of Technology: MIT OpenCourseWare, https://ocw.mit.edu. License: Creative Commons BY-NC-SA.

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