This PDF which is provided by Study India contains Book on Introduction to Robotics Chapter 7: Dynamic, Fall 2005, Department of Mechanical Engineering, Design and Manufacturing II, Spring 2004, MIT. This Book is based on Newton-Euler Formulation of Equations of Motion, 7.1.2. Closed-Form Dynamic Equations, 7.1.3. Physical Interpretation of the Dynamic Equations, 7.2. Lagrangian Formulation of Robot Dynamics, 7.2.2 Planar Robot Dynamics, 7.2.3 Inertia Matrix and Generalized Forces.