• V.I. Arnold, Mathematical Methods of Classical Mechanics, Springer, 2nd edition, 1989. (more mathematical text)
  
• H. Goldstein et al., Classical Mechanics, Addison Wesley, 3rd edition, 2001. (standard ugrad physics text)
  
• S.T. Thornton and J.B. Marion, Classical Dynamics of Particles and Systems, Brooks Cole, 5th edition, 2003. (easier ugrad physics text)
  

• N-body problems (all-pairs complexity)
• Reduced-coordinate deformable bodies (spatial/integration complexity)
• 2D serial manipulator (recursive complexity)

Read for next class:

• Rotational and rigid motion;  kinematics and dynamics
  
• SO(3), Special Orthogonal group in 3D
• SE(3), Special Euclidean group in 3D
• Rigid-body motion
• Spatial velocity vectors (contravariant twists);  se(3); transformation
  
• Kinetic energy; inertia, principal axes
  
• Spatial forces (covariant wrenches); se*(3); transformation
• Velocity of contact points, and relation to twists
  
• Forces at contact points, and relation to wrenches
• Newton-Euler equations of motion
• Integrating rigid-body dynamics
• Deformable bodies;  mode matrix, U;  extensions to framework
  

• David Baraff and Andrew Witkin, Physically Based Modeling, Online SIGGRAPH 2001 Course Notes, 2001.
• Rigid Body Simulation (slides)
  

• Murray, R. M., Sastry, S. S., and Zexiang, Li, A Mathematical Introduction to Robotic Manipulation. 1st. CRC Press, Inc., 1994.
• See summary in appendix of: 
  
• Danny M. Kaufman, Timothy Edmunds and Dinesh K. Pai, Fast Frictional Dynamics for Rigid Bodies, ACM Transactions on Graphics (SIGGRAPH 2005), 24(3), August 2005.
• Ball's screw theory
• Ahmed A. Shabana, Dynamics of Multibody Systems, Cambridge, 3rd ed, 2005.

• Roy Featherstone and David Orin, Robot Dynamics: Equations and Algorithms, Proc. IEEE Int. Conf. Robotics & Automation, San Francisco, CA, 2000, pp. 826–834. (an excellent review)

• Algorithms overview
• Forward and inverse kinematics
  
• Inverse dynamics (control)
  
• Forward dynamics (simulation)
• Notation
• Recurrence relations
• Recursive Newton-Euler Algorithm (RNEA)
• O(N) inverse dynamics
• Composite-Rigid-Body Algorithm (CRBA)
• O(n^2)  mass matrix 
  
• Usage in O(N^3) forward dynamics (CRBA + RNEA + dense solve)
• Articulated-Body Algorithm (ABA)
• a.k.a. "Featherstone's algorithm"
• O(N) forward dynamics
• Closed-loop systems
• Constraints and fast solution methods
  
• Global analysis techniques
• Fast robot algorithms as sparse matrix methods

• Roy Featherstone and David Orin, Robot Dynamics: Equations and Algorithms, Proc. IEEE Int. Conf. Robotics & Automation, San Francisco, CA, 2000, pp. 826–834. (an excellent review)
  
• Roy Featherstone, Robot Dynamics Algorithms, Kluwer Academic Publishers, 1987. (classic book--highly readable)
• Roy Featherstone, A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) Calculation of Rigid-Body Dynamics. Part 1: Basic Algorithm, The International Journal of Robotics Research, Vol. 18, No. 9, 867-875, 1999.  (has good appendix on spatial notation)
  
• Roy Featherstone, Rigid Body Dynamics Algorithms, Boston: Springer, 2007.
• E. Kokkevis, Practical Physics for Articulated Characters, Proc. of Game Developers Conference (GDC), 2004. (good overview of system integration issues for ABA, e.g., handling contact and constraints)
  
• David Baraff, Linear-Time Dynamics using Lagrange Multipliers, Proceedings of SIGGRAPH 96, Computer Graphics Proceedings, Annual Conference Series, August 1996, pp. 137-146.
• Robot dynamics, Scholarpedia page.
  
• D.K. Pai, STRANDS: Interactive Simulation of Thin Solids using Cosserat Models, Computer Graphics Forum, 21(3), pp. 347-352, 2002.

• James Melfi leads discussion of
• E. Kokkevis, Practical Physics for Articulated Characters, Proc. of Game Developers Conference (GDC), 2004.
• Submit comments before class to Piazza forum.

Topics discussed:

• Elastic rods, and recursive algorithm for evaluation of quasistatic stress, strain and configuration
• D.K. Pai, STRANDS: Interactive Simulation of Thin Solids using Cosserat Models, Computer Graphics Forum, 21(3), pp. 347-352, 2002.
• Miklós Bergou, Max Wardetzky, Stephen Robinson, Basile Audoly, Eitan Grinspun, "Discrete Elastic Rods," ACM Transactions on Graphics (SIGGRAPH) 2008.
  

• Deniz Gunceler leads discussion of 

Kiran S. Bhat, Steven M. Seitz, Jovan Popovic & Pradeep K. Khosla, Computing the Physical Parameters of Rigid-body Motion from Video, ECCV 2002. Submit comments before class to Piazza forum.

Topics discussed:

• Miklós Bergou, Max Wardetzky, Stephen Robinson, Basile Audoly, Eitan Grinspun, "Discrete Elastic Rods," ACM Transactions on Graphics (SIGGRAPH) 2008.

• Patrick Berens leads discussion of
  
• Matthias Müller, Nuttapong Chentanez, Tae-Yong Kim, Real time dynamic fracture with volumetric approximate convex decompositions. ACM Trans. Graph. 32(4): 115 (2013)  
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Yining Karl Li leads discussion of
  
• K. Museth, “VDB: High-Resolution Sparse Volumes With Dynamic Topology”. ACM Transactions on Graphics, Volume 32, Issue 3, Pages 27:1-27:22, June 2013. [PDF]
  
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Eston Schweickart leads discussion of
  
• Reconstructing Surfaces of Particle-Based Fluids Using Ansotropic Kernels   Jihun Yu (Industrial Light and Magic), Greg Turk (Georgia Institute of Technology)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Daniel Knowlton leads discussion of
  
• MultiFLIP for Energetic Two-Phase Fluid Simulation    
  Landon Boyd, Robert Bridson (University of British Columbia)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Tim Langlois leads discussion of
  
• Real-time rendering of aerodynamic sound using sound textures based on computational fluid dynamics. Yoshinori Dobashi, Tsuyoshi Yamamoto, and Tomoyuki Nishita. 2003. ACM Trans. Graph. 22, 3 (July 2003), 732-740. DOI=10.1145/882262.882339 http://doi.acm.org/10.1145/882262.882339 
   (images) (movie) (pdf) (ppt)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Megan Comins leads discussion of
  
• Jeffrey Chadwick and Doug L. James, Animating Fire with Sound, ACM Transactions on Graphics, 30(4), August 2011.
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Phaedon Sinis & Arthur Sams lead discussion of
  
• Changxi Zheng and Doug L. James, Harmonic Fluids, ACM Transaction on Graphics, 28(3), July 2009, pp. 37:1-37:12. (or alternate fluid sound paper)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Pedro Rittner leads discussion of
  
• "Detailed simulations of cell biology with Smoldyn 2.1.", Andrews et al, 2011, PLoS computational biology  [Focus on computational techniques for describing how particle-surface interactions.]
  
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• John DeCorato leads discussion of
  
• Stretchable and Twistable Bones for Skeletal Shape Deformation    
  Alec Jacobson, Olga Sorkine (ETH Zurich)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• John DeCorato leads discussion of
  
• Stretchable and Twistable Bones for Skeletal Shape Deformation    
  Alec Jacobson, Olga Sorkine (ETH Zurich)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• Caleb Woo leads discussion of
  
• Motion Capture From Body-Mounted Cameras    
  Takaaki Shiratori (Disney Research, Pittsburgh), Hyun Soo Park (Carnegie Mellon University), Leonid Sigal (Disney Research, Pittsburgh), Yaser Sheikh (Carnegie Mellon University), Jessica Hodgins (Carnegie Mellon University and Disney Research, Pittsburgh)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...

• John Oliver leads discussion of
  
• Synthesis of Detailed Hand Manipulations Using Contact Sampling   
  Yuting Ye, Karen Liu (Georgia Institute of Technology)
• Submit comments before class to Piazza forum.

Topics discussed:

• ...