Handling all the motions we can . . . Frames different by position, by orientation, and by both. Position and orientation differences between frames. Handling position and orientation changes simultaneously. Performing matrix multiplication symbolically in Mathematica.
Optimization arrives with the calvary to save the day . . .
Beginning with the whole body . Mechanics is mechanics is mechanics. More whole body work . . . Overall course information for your enjoyment . . . A circus example to show the many kinds of biomechanics we'll see .