Solution to the differential equation for the acceleration of a direct-drive (shaft-drive) MINIBOT up the pole. Rotor+shaft inertia is ignored. Friction is assumed to be speed-independent.
This white paper, written by one of FRC Team #1640's mentors, A.A. Koenig, Ph.D., analyzes the physics of a ball launcher with a two-wheel configuration.
"If a student CAN do it, a student SHOULD do it." - Mr. Lim [more] 
