Here's a mini project I am working on. My new son (~4 weeks old) is doing pretty well, but he has trouble calming down when he wants to fall asleep. My wife and I spend a lot of time rocking him, and that helps to calm him down. I thought it would be great for him to be able to rock automatically, but all of the rocking devices I have seen are swings that require the baby to be upright, which is not ideal for putting him to sleep. I decided to make a basic rocking machine out of parts I had lying around.