Law & Order: Special Victims Unit: Season 9, Episode 17

Authority

The 200th episode of the show features an engineer, Merritt Rook (Robin Williams) who has been posing as a cop to make people do abnormal things all in the act of trying to convince people to oppose authority. He turns his trial into a media circus and the case gets more complicated when Rook abducts Benson. He tries to make Elliot inflict pain on her by way of a Milgram experiment, but he refuses.