He received his B.S. degree in Mechanical Engineering at California Polytechnic State University (Cal Poly) in San Luis Obispo, and he earned his M.S. and Ph.D. in Mechanical Engineering from the University of California, Berkeley, specializing in dynamics and vibration. His interests include algorithms for exact decoupling of linear dynamical systems; dynamic modeling, analysis, and simulation of systems of rigid bodies and of continua; and teaching mechanics and programming to undergraduate students at all levels. Daniel is an editor of the website Rotations, dedicated to providing educational resources related to the rotation of a rigid body in three dimensions.