# Dynamics/Tips For Editing

## Adding a Figure (GIF) and a Caption

If you would like to add a reference to a book, such as Applied Dynamics by Rutgers Professor Haim Baruh, you can add a reference that appears as a superscript.[1] If you look at the source, you will see a ref name, which makes it possible to cite the reference again like this.[1] At the bottom of this page, you will also find this command {{Reflist}} under References.

Here are examples of adding equations:

${\displaystyle {\mathsf {r}}_{P}=X_{P}{\mathsf {I}}+Y_{P}{\mathsf {J}}+Z_{P}{\mathsf {K}}}$

${\displaystyle {\mathsf {r}}_{P}=X_{P}{\mathsf {I}}+Y_{P}{\mathsf {J}}+Z_{P}{\mathsf {K}}}$

The angular velocity vector ${\displaystyle {\boldsymbol {\omega }}=(\omega _{x},\omega _{y},\omega _{z})}$ defined above may be equivalently expressed as an angular velocity tensor, the matrix (or linear mapping) W = W(t) defined by:

${\displaystyle W={\begin{bmatrix}0&-\omega _{z}&\omega _{y}\\\omega _{z}&0&-\omega _{x}\\-\omega _{y}&\omega _{x}&0\\\end{bmatrix}}}$

Content from Kinematics and Robot kinematics

Check out Kinematics

## Adding Hidden Code that Requires a Click to Expand

An example of how to setup a symbolic expression ${\textstyle x_{f}=x_{i}+v_{c}t+{\frac {1}{2}}a_{c}t^{2}}$ in IPython.

Code
%reset -f
from sympy import symbols
x_f,x_i,v_c,a_c,t = symbols('x_f x_i v_c a_c t')
x_f=x_i+v_c*t+1/2*a_c*t*t
x_f


The example below comes from Help:Quiz-Simple.

Type the question here...