The use of electronic audience response systems in university teaching is currently increasing rapidly. This paper describes how a consistent use of peer instruction facilitated by an audience response system has been introduced in an introductory engineering dynamics course. Data are presented that reveal that this teaching style leads to an increased learning outcome, especially regarding the students' conceptual understanding of the subject. Further results show that the students are very satisfied with the teaching style and they give high rankings on several parameters, which is important to the learning process. Finally, this study indicates that the use of clickers provides the students with a more critical and hence maybe a more realistic self-assessment of their academic outcome. (Contains 1 figure and 4 tables.)