For physics and/or math students who may be interested, I just posted a short write-up showing how to setup and solve the differential equation for the MINIBOT accelerating from a dead stop up the pole. An analytical solution is given so you can just plug numbers in using a calculator (if you have the patience), or better yet a spreadsheet.
The model ignores friction, which may be a significant factor, but the physics (and math) is nonetheless interesting and useful for gaining insight and rough approximation.
http://www.chiefdelphi.com/media/papers/2470