Let's say we have a ball bearing that is free to move in the x-y plane. Now, we strap a tiny rocket on it, which is free to pivot around the ball around the z-axis, to provide a motive force in any direction in x-y. From point a to point b, how do you describe a non-linear path which minimizes peak forces (not counting accelerations around point a and b) such that...
http://pics.bbzzdd.com/users/Howard/CCF06222010_00001.png
http://pics.bbzzdd.com/users/Howard/CCF06222010_00001.png
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