### Course Description

Beginning with a self-contained review of Lagrangian and Hamiltonian mechanics in local coordinates, this course will provide an introduction to the differential geometric perspective underlying Lagrangian and Hamiltonian reduction for systems exhibiting Lie groups of symmetries, ultimately making connections with nonlinear control and motion planning. Material will be drawn from Marsden and Ratiu's Introduction to Mechanics and Symmetry and from selected papers. There will be no exams, but students will be expected to prepare final reports on relevant topics of their own choosing.

### Course Material

### Misc

Scott sings a tribute to the man himself (sing along!!)