https://shiraz-k.com/tags/mechanics/ Recent content in Mechanics on Shiraz Hugo en-us Thu, 13 Nov 2025 21:23:17 -0500 https://shiraz-k.com/posts/robotics/ Thu, 13 Nov 2025 21:23:17 -0500 https://shiraz-k.com/posts/robotics/ I’ve been going through Russ Tedrake’s notes on robotics, which got me thinking about their so-called monogram notation. The result of this deliberation was a new notation for spatial velocities that bridges the gap between abstract Lie groups and their applications to robotics and computer graphics. https://shiraz-k.com/posts/ep/ Thu, 19 Dec 2024 08:18:04 -0500 https://shiraz-k.com/posts/ep/ Poincaré’s 1901 paper introduces (in just a humble 3 pages) the Euler-Poincaré equations, which are the specialization of the Euler-Lagrange equations to the case where a Lie group acts on the configuration manifold. I work through Poincaré’s paper without making too many identifications. https://shiraz-k.com/posts/symplectic/ Mon, 09 Dec 2024 14:45:16 +0530 https://shiraz-k.com/posts/symplectic/ Despite having encountered the Lagrangian and Hamiltonian formalisms of mechanics several times in a variety of engineering and physics settings, I had never been able to retain it in my memory. In this post, I would like to collect my thoughts on their differential geometric treatment, which assumes a very simple and memorable form once we introduce the language of symplectic geometry.