A fair ride called the Inverter is composed of an arm A and platform P that are connected by pins. The orientation of the arm is defined as Θ and controlled by a torque TA. The platform angle is constrained to be -Θ by an internal torque Tp at joint P. Drag exists at the center of platform payload with magnitude Fd=Cd(VP/I)^2 that is opposite the direction of the velocity VP/I. There are two cases for the seating arrangement of the passengers . First, eight passengers are seated symmetrically, with four seats in each row, on the platform in the seats closest to the center of the platform. Second, all eight passengers are seated in the two rows as far to the right of the center as possible. Design a torque profile that makes the arm spin at one revolution every six seconds for each case. Link to Summary of Analysis and Simulation