This notebook serves as an introduction to Lagrangian Mechanics, and how they can be used to model and simulate robotic systems. This covers several examples, including a spring-mass system and a pole-cart system. As with the last post, I would appreciate any feedback!
Check out the static notebook here.
Download the notebook here. I would recommend using curl on the raw text. There are a few bugs in the way Github renders notebooks, so if you just want to read it I would go for the static html page.