Dr. ​M. Khalid Jawed is an Assistant Professor in the Department of Mechanical and Aerospace Engineering at the University of California, Los Angeles. Alyssa Novelia is a graduate student in the Department of Mechanical Engineering at the University of California, Berkeley. Dr. Oliver M. O’Reilly is a Professor in the Department of Mechanical Engineering at the University of California, Berkeley.

• Discrete Elastic Rods.- Kirchhoff’s Theory of an Elastic Rod.- Variations, Gradients, and Hessians.- Rotation of the Cross Section of the Rod, Spherical Excess, and Holonomy.- Kinetic Energy, Potential Energy, and Internal Forces.

Dr. ​M. Khalid Jawed is an Assistant Professor in the Department of Mechanical and Aerospace Engineering at the University of California, Los Angeles. Alyssa Novelia is a graduate student in the Department of Mechanical Engineering at the University of California, Berkeley. Dr. Oliver M. O’Reilly is a Professor in the Department of Mechanical Engineering at the University of California, Berkeley.

• Discrete Elastic Rods.- Kirchhoff’s Theory of an Elastic Rod.- Variations, Gradients, and Hessians.- Rotation of the Cross Section of the Rod, Spherical Excess, and Holonomy.- Kinetic Energy, Potential Energy, and Internal Forces.