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Course Info

  • Course Number / Code:
  • 2.003J (Fall 2007) 
  • Course Title:
  • Dynamics and Control I 
  • Course Level:
  • Undergraduate 
  • Offered by :
  • Massachusetts Institute of Technology (MIT)
    Massachusetts, United States  
  • Department:
  • Mechanical Engineering 
  • Course Instructor(s):
  • Prof. Nicholas Makris
    Prof. Sanjay Sarma
    Prof. Peter So
    Dr. Yahya Modarres-Sadeghi 
  • Course Introduction:

  • 2.003J / 1.053J Dynamics and Control I

    Fall 2007

    Course Highlights

    2.003J / 1.053J Dynamics and Control I

    Fall 2007

    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.)

    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.

    Recommended Citation

    For any use or distribution of these materials, please cite as follows:

    Sanjay Sarma, Nicholas Makris, Yahya Modarres-Sadeghi, and Peter So, course materials for 2.003J / 1.053J Dynamics and Control I, Fall 2007. MIT OpenCourseWare (, Massachusetts Institute of Technology. Downloaded on [DD Month YYYY].

    Special Features

    Technical Requirements

    Special software is required to use some of the files in this course: .m, .mat, .rm, and .zip.


This course content is a redistribution of MIT Open Courses. Access to the course materials is free to all users.

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