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This book is the result of inspirations and contributions from many researchers and students at the Swiss Federal Institute of Technology Lausanne (EPFL), Carnegie Mellon University’s Robotics Institute, Pittsburgh (CMU), and many others around the globe.

Analytical Dynamics of Discrete Systems. providing seniors and beginning graduate students in engineering and the natural sciences with an advanced textbook in dynamics, examines the development of classical particle mechanics from Newton to Lagrange. Every concept is clearly defmed before it is used, every significant result is stated mathematically as well as verbally, and the domain of applicability of each is explicitly stated. Most of the chapters contain a large number of carefully worked out examples, as well as a set of suggested exercises

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