- Problem 3 stabilizing holonomic constraint
- Problem 4 stabilizing Pfaffian constraint
- Problem 5 open link mechanism (2DOF) inertia matrix
- Problem 5 open link mechanism (2DOF) velocity quadratic terms and gravity terms
- Problem 5 open link mechanism (2DOF) PD control
- Problem 5 open link mechanism (2DOF) PID control
- Problem 7 solving stiff ordinary differential equation