Koditschek, Daniel2023-05-232018-08-312017-10-022018-08-31https://repository.upenn.edu/handle/20.500.14332/45773We're going to start at the very beginning of things , namely the Prismatic one degree freedom physics. We'll introduce slightly different terminology and slightly different notation and so it's not a bad thing to review and start you on the escalator from the first step rather than the fifth step.flash_audiohttp://creativecommons.org/licenses/by-nc/4.0/VectorForceVelocityEngineeringArticle