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Applied Mathematics for Engineering is a second year undergradu- ate mathematics requirement for engineering majors at Harvey Mudd College in Claremont, California since 2011. It has been jointly de- signed and taught by the engineering and mathematics departments. The class aims to help students develop confidence in their skill in applying mathematics to solve engineering problems and perseverance for complicated problems; to improve facility at previously learned mathematical skills and to incorporate new tools; and to develop strate- gic competence and better judgment on the correctness of solutions. This article describes the design principles used in creating the class and some evidence of its effectiveness.