2- Convert the equations of motion (T1 and T2) into a system of the first-order ordinary differential equations? T; = (}m,l{ + m,l{ + }m,l} + m2lh½Cs) Öj + (}m2l3 + {mplı½Cs) ö, -(mlıl,S2)6,02 – (}m2lhl½S2) ở; + (}m, + m2) gl,C1 + }m2gl,C12 T; = (}m,l3 + }m21,l,C:) ö, + (}m2l¿) öz + (}malı,82) ởf + }m2gl,C12
2- Convert the equations of motion (T1 and T2) into a system of the first-order ordinary differential equations? T; = (}m,l{ + m,l{ + }m,l} + m2lh½Cs) Öj + (}m2l3 + {mplı½Cs) ö, -(mlıl,S2)6,02 – (}m2lhl½S2) ở; + (}m, + m2) gl,C1 + }m2gl,C12 T; = (}m,l3 + }m21,l,C:) ö, + (}m2l¿) öz + (}malı,82) ởf + }m2gl,C12
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