I haven't completed the 2005 schedule yet. Here's an old one:
| Day | Date | Title | Topics | Readings | |
| M | 1/13/02 | Goals and philosophy | 1 | Introduction. Grading; projects; philosophy; example. | Chapter 1 |
| W | 1/15/02 | Kinematic foundations | 2 | Kinematics. Foundations and definitions. First theorems. Projective plane. | 2.1, Appendix A |
| M | 1/20/02 | (Holiday) | |||
| W | 1/22/02 | Planar kinematics | 3 | Planar kinematics. Centrodes. | 2.2 |
| M | 1/27/02 | Spatial kinematics. Constraint. | 4 | Spherical and spatial kinematics. Screws. Kinematic constraints. | 2.3 - 2.5 |
| W | 1/29/02 | Frobenius and Reuleaux | 5 | Nonholonomic constraint. Frobenius's theorem. Reuleaux's method. | 2.5, 2.6 |
| M | 2/3/02 | Representing rotation | 6 | Axis angle. Rodrigues's theorem. Rotation matrices. Euler angles. | 3.1 |
| W | 2/5/02 | Quaternions | 7 | Quaternions and unit quaternions. Topology of SO3. | 3.1 |
| M | 2/10/02 | Representing displacements | 8 | Plucker and screw coordinates. Virtual product. | 3.2 |
| W | 2/12/02 | Representing constraints | 9 | Screw coordinates and kinematic constraints. | 3.3 |
| M | 2/17/02 | Path planning | 10 | Cspace transform. Best First Planner and Non Holo Planner. | 4.1, 4.2 |
| W | 2/19/02 | Kinematic models of contact | 11 | Grubler's formula. Salisbury's taxonomy of contacts. | 2.6, 4.3 |
| M | 2/24/02 | Foundations of statics | 12 | Equivalence theorems. Line of action. Poinsot's theorem. Wrenches. | 5.1 |
| W | 2/26/02 | Cones | 13 | Polyhedral convex cones, supplementary cones, cones in wrench and twist space | 5.2 - 5.4 |
| M | 3/3/02 | The oriented plane | 14 | The oriented plane. A foundation for Reuleaux's method. | 5.5, 5.6 |
| W | 3/5/02 | Moment labeling | 15 | The oriented plane applied to statics: moment labelling. | 5.7 |
| M | 3/10/02 | Friction | 16 | Coulomb's law. The friction cone. Planar single contact. Graphical analysis. | 6.1 - 6.5 |
| W | 3/12/02 | Planar sliding | 17 | Force and torque of planar sliding. The limit surface. The maximum power inequality. | 6.6 |
| M | 3/17/02 | Force dual | 18 | An alternative graphical method. Projecting PCCs to oriented plane. Working in the ambient space. | 5.8 |
| W | 3/19/02 | Wrapup of graphical methods. | 19 | Wrapup of graphical methods. Duality. Arrangements in the oriented plane yielding closure. | 5.8, 5.9, 6.4, 6.5 |
| M | 3/24/02 | (spring break) | |||
| W | 3/26/02 | (spring break) | |||
| M | 3/31/02 | Quasistatic manipulation. | 20 | Force and form closure. Equilibrium and stability. Grasping and fixture planning. | 7.1 |
| W | 4/2/02 | Pushing | 21 | Motivation. Voting theorem. | 7.2 |
| M | 4/7/02 | Parts orienting | 22 | Manufacturing. Radius function and push function. Symmetry. Modeling uncertainty. Planning. | 7.4 |
| W | 4/9/02 | Assembly | 23 | Sequences. Wedging and jamming. Compliance, motion planning. | 7.5 |
| M | 4/14/02 | Rigid body dynamics | 24 | Newton's laws. Momentum. Moment of momentum. Inertia tensor. Poinsot's construction. | 8.1 - 8.7 |
| W | 4/16/02 | Tumbling | 25 | Inertia tensor. | |
| M | 4/21/02 | Dynamics and sliding | 26 | Sliding rod. Indeterminacy and inconsistency. Multiple frictional contact in the plane. | 8.8 - 8.10 |
| W | 4/23/02 | Impact | 27 | Newtonian and Poisson restitution. Impulse space. The sliding rod problem revisited. | Chapter 9 |
| M | 4/28/02 | Tray tilting | 28 | Parts orienting by tray tilting. Modeling action, uncertainty. Automatic planning. | 10.1 |
| W | 4/30/02 | Juggling | 29 | Juggling and final review. | 10.2 - 10.4 |