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Scientific Machine Learning (SciML) is a new multidisciplinary methodology that combines the data-driven machine learning models and the principle-based computational models to improve the simulations of scientific phenomenon and uncover new scientific rules from existing measurements. This article reveals the experience of using the SciML method to discover the nonlinear dynamics that may be hard to model or be unknown in the real-world scenario. The SciML method solves the traditional principle-based differential equations by integrating a neural network to accurately model the nonlinear dynamics while respecting the scientific constraints and principles. The paper discusses the latest SciML models and apply them to the oscillator simulations and experiment. Besides better capacity to simulate, and match with the observation, the results also demonstrate a successful discovery of the hidden physics in the pendulum dynamics using SciML.