A min-max problem of optimal actuator placement for lifting
Summary The paper addresses the following problem: for a three-bar lifting linkage, find the locations of the two ends of the actuated link so as to minimize the maximum value of the force seen by the actuator over a specified range of arm angular positions. A simple analytical solution to this min-max problem is given, showing that the optimal locations are with the actuated link perpendicular either to the fixed link or to the lifting arm, when the arm is in a horizontal position. The method can be used to optimize the actuation of robots, doors, platforms, landing gears, etc., and allows to account for actuator length constraints. It can be extended also to Stewart's platform-type spatial manipulators.
On the Maximum and Minimum Velocities and the Accelerations in Four-Link Mechanisms

 A method of analysis has been developed for obtaining (a) geometrical criteria for an extreme value of the angular velocity ratio of one link relative to another in a four-bar mechanism; (b) a direct method of determining the angular acceleration of the follower link of a four-bar mechanism, and maximum values of this acceleration in certain special cases. The results have been applied to a slider-crank mechanism.
American Insurgents, American Patriots: The Revolution of the People
This is a story of rumour, charity, vengeance, and restraint. "American Insurgents, American Patriots" reminds us that revolutions are violent events. They provoke passion and rage, a willingness to use violence to achieve political ends, a deep sense of betrayal, and a strong religious conviction that God expects an oppressed people to defend their rights. The American Revolution was no exception. A few celebrated figures in the Continental Congress do not make for a revolution. It requires tens of thousands of ordinary men and women willing to sacrifice, kill, and be killed. Breen not only tells the history of these ordinary Americans but, drawing upon a wealth of rarely seen documents, restores their primacy to America's road to independence. Mobilizing two years before the Declaration of Independence, American insurgents in all thirteen colonies concluded that resistance to British oppression required organized violence against the state. They channeled popular rage through elected committees of safety and observation, which before 1776 were the heart of American resistance. "American Insurgents, American Patriots" is the stunning account of their insurgency, without which there would have been no independent republic as we know it.