tml>Table of contents</a></td>
  <td style="width:33%;text-align:right;"><a class="next_chapter" href=acrobot.html>Next Chapter</a></td>
</tr></table>

<script type="text/javascript">document.write(notebook_header('pend'))
</script>
<!-- EVERYTHING ABOVE THIS LINE IS OVERWRITTEN BY THE INSTALL SCRIPT -->
<chapter style="counter-reset: chapter 1">
<h1>The Simple Pendulum</h1>

  <section><h1>Introduction</h1>

    <p> Our goals for this chapter are modest: we'd like to understand the
    dynamics of a pendul