He was a co-author (with Gerald Jay Sussman and Jack Wisdom) of Structure and Interpretation of Classical Mechanics, MIT Press, Cambridge, MA, 2001
hiː wʌzɐ kˈoʊˈɔːθɚ wɪð dʒˈɛɹəld dʒˈeɪ sˈʌsmən ænd dʒˈæk wˈɪzdəm ʌv stɹˈʌktʃɚ ænd ɪntˌɜːpɹɪtˈeɪʃən ʌv klˈæsɪkəl mᵻkˈænɪks, ˌɛmˌaɪtˈiː pɹˈɛs, kˈeɪmbɹɪdʒ, mˈɑː, tˈuː θˈaʊzənd wˈʌn