1. The absolute acceleration vector of mass m is given a = (Lösin@ + 2Ló cos 0)sz + (Lỡ – Lở cos0 sin 0) s3 - (Lö + L (ósin e)) s1 Figure 1: Spherical pendulum. Task 1: Using Newton's second law, derive the governing equations of motion for the pen- dulum. Assume no friction at the hinge point, C, and assume that the only external force is

1. The absolute acceleration vector of mass m is given a = (Lösin@ + 2Ló cos 0)sz + (Lỡ – Lở cos0 sin 0) s3 - (Lö + L (ósin e)) s1 Figure 1: Spherical pendulum. Task 1: Using Newton's second law, derive the governing equations of motion for the pen- dulum. Assume no friction at the hinge point, C, and assume that the only external force is