Prerequisite · Self-Directed · Beginner to Intermediate

PHYSICS &
MECHANICS

A ground-up curriculum in classical mechanics — from Newton's laws through rigid body dynamics and Lagrangian methods. Modeled after MIT 8.01, MIT 2.003, and Hibbeler's engineering mechanics sequence. The physical intuition every roboticist, engineer, and physicist must build.

18 Weeks
6 Modules
MIT OCW Referenced
Walter Lewin Companion
Self-Paced
← Return to Robotics Path
MIT 8.01Classical Mechanics
MIT 8.012Physics I (Honors)
MIT 2.003Engineering Dynamics
Feynman LecturesVol. I — Mechanics
Walter LewinMIT 8.01 Lectures
6
Core Modules
18
Weeks
9
Textbooks
∞
Free Resources
00
Prerequisites
ƒ
Algebra & Trigonometry
Solving equations, quadratics, trigonometric identities, and the unit circle. Every force diagram and projectile problem relies on these.
∫
Basic Calculus
Derivatives and integrals of common functions. Velocity is the derivative of position, impulse is the integral of force — calculus is the language of physics.
→
Vectors
Vector addition, components, dot product, cross product. Forces, velocities, and angular quantities are all vectors — you must be comfortable decomposing them.
01
Kinematics & Newton's Laws
MODULE 01A
WEEKS 1–2
Kinematics — Describing Motion
Before asking "why does it move?" we ask "how does it move?" Position, velocity, acceleration in one and two dimensions — the vocabulary of all mechanics. MIT 8.01 starts here.
Position, displacement, distance
Velocity and acceleration (average & instantaneous)
Motion in 1D: constant acceleration, free fall
Motion in 2D: projectile motion
Relative motion and reference frames
MODULE 01B
WEEKS 2–3
Newton's Laws of Motion
The three laws that govern all of classical mechanics. Free body diagrams, force analysis, and the relationship F = ma — the most important equation in this entire path.
Newton's First Law: inertia and equilibrium
Newton's Second Law: F = ma
Newton's Third Law: action-reaction pairs
Free body diagrams (FBDs)
Common forces: gravity, normal, tension, friction
Circular motion and centripetal acceleration
TEXTBOOKS FOR MODULE 01
University Physics with Modern Physics
Young & Freedman · Pearson, 15th Ed.
★ The standard university physics textbook. Excellent diagrams and worked examples throughout.
Core
An Introduction to Mechanics
Kleppner & Kolenkow · Cambridge, 2nd Ed.
MIT 8.012 honors text. More rigorous — ideal if you want deeper understanding.
Rigorous
02
Energy, Momentum & Oscillations
MODULE 02A
WEEKS 4–5
Work, Energy & Conservation
Energy methods often solve problems that F = ma cannot touch easily. Work-energy theorem, potential energy, and the conservation principle that governs closed systems.
Work done by constant and variable forces
Kinetic energy and work-energy theorem
Potential energy: gravitational and elastic
Conservation of mechanical energy
Conservative vs. non-conservative forces
Power
MODULE 02B
WEEKS 5–6
Momentum & Collisions
When forces are impulsive or internal, momentum methods are essential. Impulse, conservation of momentum, and collision analysis — the foundation for understanding impacts and interactions.
Linear momentum and impulse
Conservation of linear momentum
Elastic and inelastic collisions
Center of mass and its motion
Intro to simple harmonic motion (SHM)
Springs, pendulums, damped oscillations
TEXTBOOKS FOR MODULE 02
University Physics with Modern Physics
Young & Freedman · Chapters 6–14
Continues from Module 01. Energy, momentum, and oscillation chapters.
Core
The Feynman Lectures on Physics, Vol. I
Feynman, Leighton, Sands · Free at feynmanlectures.caltech.edu
Unmatched physical insight. Read chapters on energy and conservation alongside the main text.
Insight
03
Rotational Mechanics
MODULE 03
WEEKS 7–9
Rotation, Torque & Angular Momentum
Robots have joints that rotate. Motors apply torques. Understanding rotational mechanics is not optional — it is the direct prerequisite for robot dynamics. Every manipulator joint, every wheel, every gear train relies on these principles.
Angular position, velocity, acceleration
Rotational kinematics (constant angular acceleration)
Torque and moment of force
Moment of inertia and parallel axis theorem
Rotational form of Newton's Second Law: τ = Iα
Rotational kinetic energy and work
Angular momentum and its conservation
Rolling motion (without and with slipping)
TEXTBOOKS
University Physics with Modern Physics
Young & Freedman · Chapters 9–11
★ Rotation chapters. Clear parallel between linear and rotational quantities.
Core
An Introduction to Mechanics
Kleppner & Kolenkow · Chapters 7–9
Rigorous treatment of angular momentum and rigid body rotation.
Rigorous
04
Statics & Equilibrium
MODULE 04A
WEEKS 10–11
Equilibrium of Rigid Bodies
Before things move, they must be in balance. Statics is the study of forces and moments on bodies at rest — essential for designing robot structures, links, and frames that don't collapse.
Conditions for static equilibrium (ΣF = 0, ΣM = 0)
Free body diagrams for rigid bodies
Support reactions: pins, rollers, fixed supports
Two-force and three-force members
Statically determinate vs. indeterminate systems
MODULE 04B
WEEKS 11–12
Trusses, Frames & Friction
Analyzing multi-body structures under load. Method of joints, method of sections, and the role of friction — the engineering side of statics that informs real mechanical design.
Trusses: method of joints
Trusses: method of sections
Frames and machines
Distributed forces and centroids
Dry friction: static and kinetic
Belt friction and wedges
TEXTBOOKS FOR MODULE 04
Engineering Mechanics: Statics
R.C. Hibbeler · Pearson, 14th Ed.
★ The industry-standard statics textbook. Used in virtually every engineering program worldwide.
Core
Engineering Mechanics: Statics
Meriam & Kraige · Wiley, 9th Ed.
Excellent alternative with more conceptual depth. Strong problem sets.
Alternative
05
Rigid Body Dynamics
MODULE 05A
WEEKS 13–14
Planar Kinematics of Rigid Bodies
Describing how rigid bodies move in a plane — translation, rotation, and general planar motion. This is where robot arm links and mechanisms become analyzable.
Translation and rotation about a fixed axis
General planar motion
Relative motion analysis: velocity
Instantaneous center of zero velocity
Relative motion analysis: acceleration
MODULE 05B
WEEKS 14–15
Planar Kinetics — Force & Acceleration
Applying Newton's Second Law to rigid bodies in planar motion. Equations of motion for translation, rotation, and general motion — the direct precursor to robot dynamics.
Mass moment of inertia (composite bodies)
Equations of motion: translation
Equations of motion: rotation about a fixed axis
Equations of motion: general planar motion
Work-energy methods for rigid bodies
Impulse-momentum methods for rigid bodies
TEXTBOOKS FOR MODULE 05
Engineering Mechanics: Dynamics
R.C. Hibbeler · Pearson, 14th Ed.
★ Companion to the Statics text. The standard reference for engineering dynamics.
Core
Engineering Mechanics: Dynamics
Meriam & Kraige · Wiley, 9th Ed.
More conceptual explanations, strong on rigid body kinematics derivations.
Alternative
06
Lagrangian Mechanics & Systems
MODULE 06A
WEEKS 16–17
Lagrangian Mechanics
A reformulation of classical mechanics using energy rather than forces. Generalized coordinates and the Euler-Lagrange equation — the exact framework used for robot arm dynamics in the robotics path.
Generalized coordinates and constraints
Degrees of freedom
Kinetic and potential energy in generalized coords
The Lagrangian: L = T − V
Euler-Lagrange equations of motion
Lagrangian for multi-body systems
MODULE 06B
WEEKS 17–18
Vibrations & Mechanical Systems
Extending dynamics to vibrating and coupled systems. Undamped and damped oscillators, forced vibration, and an introduction to multi-degree-of-freedom systems — the bridge to real mechanical engineering.
Free vibration: undamped and damped (review & deepen)
Forced vibration and resonance
Vibration isolation and transmissibility
Two-degree-of-freedom systems
Normal modes and natural frequencies
Intro to 3D rigid body dynamics (gyroscopic effects)
TEXTBOOKS FOR MODULE 06
Classical Mechanics
John R. Taylor · University Science Books, 2005
★ Best intermediate mechanics textbook. Superb Lagrangian chapters with clear, patient explanations.
Core
Engineering Vibrations
Daniel J. Inman · Pearson, 4th Ed.
Practical vibration analysis reference. Covers SDOF through MDOF systems.
Supplemental
Classical Mechanics
Goldstein, Poole & Safko · Pearson, 3rd Ed.
Graduate-level reference. Consult for deeper Lagrangian and Hamiltonian methods.
Advanced
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18-Week Schedule
Study Timeline
~8–12 HRS / WEEK RECOMMENDED
WK 1
Position, velocity, acceleration, 1D motion, free fall MOD 01A
WK 2
Projectile motion, relative motion, Newton's First & Second Laws MOD 01A/B
WK 3
Newton's Third Law, free body diagrams, friction, circular motion MOD 01B
WK 4
Work, kinetic energy, work-energy theorem, potential energy MOD 02A
WK 5
Conservation of energy, power, linear momentum, impulse MOD 02A/B
WK 6
Collisions, center of mass, simple harmonic motion, pendulums MOD 02B
WK 7
Angular kinematics, torque, moment of inertia MOD 03
WK 8
τ = Iα, rotational work and energy, parallel axis theorem MOD 03
WK 9
Angular momentum, conservation, rolling motion MOD 03
WK 10
Static equilibrium conditions, rigid body FBDs, support reactions MOD 04A
WK 11
Multi-body equilibrium, trusses (method of joints & sections) MOD 04A/B
WK 12
Frames, machines, distributed forces, dry friction MOD 04B
WK 13
Rigid body planar kinematics, general motion, relative velocity MOD 05A
WK 14
Instantaneous center, relative acceleration, equations of motion MOD 05A/B
WK 15
General planar kinetics, rigid body work-energy & impulse-momentum MOD 05B
WK 16
Generalized coordinates, constraints, Lagrangian formulation MOD 06A
WK 17
Euler-Lagrange equations, multi-body Lagrangians, forced vibration MOD 06A/B
WK 18
MDOF systems, normal modes, intro to 3D rigid body dynamics MOD 06B
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Free Online Resources
MIT OpenCourseWare
8.01 Physics I: Classical Mechanics
Full video lectures by Prof. Walter Lewin, problem sets, and exams. Covers modules 1–3 completely. Free at ocw.mit.edu
MIT OpenCourseWare
2.003 Engineering Dynamics
Lecture notes and problem sets covering rigid body dynamics and Lagrangian methods. Covers modules 5–6. Free at ocw.mit.edu
Free Textbook
The Feynman Lectures on Physics
Feynman's complete lectures, freely available at feynmanlectures.caltech.edu. Volume I covers all mechanics topics with unmatched physical insight.
YouTube · Lectures
Walter Lewin — MIT 8.01
35 legendary physics lectures with demonstrations. Widely considered the best introductory physics course ever recorded. Free on YouTube.
Interactive · Free
Khan Academy: Physics
Step-by-step practice with instant feedback. Covers modules 1–3 at a beginner-friendly pace. Excellent for building confidence. Free at khanacademy.org
Reference · Free
HyperPhysics
Concept map-based physics reference from Georgia State University. Quick lookup for any formula or concept. Free at hyperphysics.phy-astr.gsu.edu
Curriculum modeled after MIT 8.01 (Prof. Walter Lewin) & MIT 2.003 (Engineering Dynamics)
Sources: MIT OpenCourseWare · Feynman Lectures · Khan Academy · HyperPhysics
All free resources verified available as of 2025.
PHYSICS & MECH