In this talk I shall review some of my work on control theory for mechanical systems. The work is characterised by the statement of results in terms of the configurations for the systems rather than the states, which include velocities. By utilising this point of view, I am able to provide computable conditions, in terms of the system structure, for controllability of the configurations. In itself, the uncovering of this structure constitutes one of the major consequences of my work.

No online version avaliable (but check this out).