© Rudra Pratap and Andy Ruina, 1994-2026. All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, or otherwise, without prior written permission of the authors.
This is a pre-release version of a book in progress.
Acknowledgements. The following are amongst those who have helped with this book as editors, artists, tex programmers, advisors, critics or suggesters and creators of content: William Adams, Alexa Barnes, Somrita Banerjee, Jia Bhargava, Pranav Bhounsule, Joseph Burns, Katherine Cao, Hye Yeon Choe, Jason Cortell, William Cottingham, Noah Cowan, Trevin Cowman, Suraj Dayama, Max Donelan, Thu Dong, Daniel Eijickm, Marigot Fackenthal, Gail Fish, Mike Fox, John Gibson, Robert Ghrist, Dipit Golechha, Rohan Goyal, Vivek Gupta, Sparsh Gupta, Saptarsi Haldar, Wyatt Hall, Nick Hamann, Chris Harding, Dave Heimstra, Ronald Heisser, Amy Hendrikson, Theresa Howley, Herbert Hui, Harshit Jain, Rebecca Jiang, John Kribs, Sandro Labedadze, Kieth LeGrand, Dirk Martin (Mark) Luchtenburg, Michael Marder, Elaina McCartney, Saskya van Nouhuys, Horst Nowacki, Roberto Padovani, Jim Papadopoulos, Shashikant Pawar, Jorge Perez, Thomas Powers, Kalpana Pratap, Autumn Pratt, Dane Quinn, Richard Rand, C.V. Radakrishnan, Pranjal Rastogi, Nidhi Rathi, Phoebus Rosakis, Torben Ruby, Les Schaffer, Guy Scher, Steve Sentoff, Ishan Sharma, Matthew Sherman, David Shipman, Matthew Smith, BK Sreedhar, Isabella Stuopis, Tanay Raghunandan Srinivasa, Jill Startzell, Brett Tallman, Tian Tang, Kim Turner, KV Vijayendra, Bill Zobrist, and Jon Zuka. Our on-again off-again editor Peter Gordon has been supportive throughout. Many other friends, colleagues, relatives, students, and anonymous reviewers have also made helpful suggestions.
We certify Arthur Ogawa, Ivan Dobrianov, and Stephen Hicks as TeX geniuses.
Tanay Raghunandan Srinivasa helped with writing solutions, organizing the solution manual, fixing errors, and debugging the LaTeX macros.
Mike Coleman worked extensively on the text, wrote many of the examples and homework problems and made many figures.
David Ho, R. Manjula, Abhay and Mieke Ruina drew or improved most of the drawings. Credit for some of the homework problems retrieved from Cornell archives is due to various Theoretical and Applied Mechanics faculty. Harry Soodak and Martin Tiersten provided some problems from their incomplete book.
Software we have used to prepare this book includes TeXshop (for LaTeX) with many custom features implemented by Stephen Hicks, Adobe Illustrator, GraphicsConverter, and MATLAB. Claude found hundreds of small errors and helped with the LaTeX macros.