Here are some physics articles I wrote a few months back:
http://www.gaffer.org/articles
Very simple stuff, just the basics of integration, time stepping, 3D kinematics, springs, some networked physics stuff
If you guys have any corrections or suggestions for improvement, please let me know.
I also have a networked physics demo with source code available here:
http://www.gaffer.org/downloads/NetworkedPhysics.zip
which is part of my AGDC talk, "Zen of Networked Physics"
hope you guys find this useful
cheers all