Koditschek, Daniel2023-05-232018-08-312017-10-022018-08-31https://repository.upenn.edu/handle/20.500.14332/45770We want to remind you of what you learned in, probably, college physics, or what you will learn in college physics, if you haven't taken college physics yet. We discuss an example of a one degree of freedom revolute kinematic chain.youtubehttp://creativecommons.org/licenses/by-nc/4.0/Physicspendulumkinematicsrobotnon-linearEngineeringArticle