where β1 determines the initial velocity of the ball, β2 is proportional to the standard gravity, and εi is due to measurement errors. Linear regression can be used to estimate the values of β1 and β2 from the measured data. This model is non-linear in the time variable, but it is linear in the parameters β1 and β2; if we take regressors xi = (xi1, xi2) = (ti, ti2), the model takes on the standard form