A Consider the double pendulum shown in Fig. P4.61. The two point masses of equal mass m are attached to two rigid links of equal length L. The links are assumed massless since their masses are small compared to the point masses. The hinged joints constrain the system in planar motion. The friction is negligible, so the system can be assumed frictionless. a Using Lagrange's equations, derive the general nonlinear differential equations of motion. Th Obtain the linearized differential equations for small motions, and then express the results in the second-order matrix form. FIGURE P4.61

A Consider the double pendulum shown in Fig. P4.61. The two point masses of equal mass m are attached to two rigid links of equal length L. The links are assumed massless since their masses are small compared to the point masses. The hinged joints constrain the system in planar motion. The friction is negligible, so the system can be assumed frictionless. a Using Lagrange's equations, derive the general nonlinear differential equations of motion. Th Obtain the linearized differential equations for small motions, and then express the results in the second-order matrix form. FIGURE P4.61

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

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Question

4.61. Consider the double pendulum shown in Fig. P4.61 The two point masses of equal
sn are attached to two rigid links of equal length L. The links are assumed massless
Kance their masses are small compared to the point masses. The hinged joints constrain
mesystem in planar motion. The friction is negligible, so the system can be assumed
frictionless.
A Using Lagrange's equations, derive the general nonlinear differential equations of
motion.
Obtain the linearized differential equations for small motions, and then express the
Yesults in the second-order matrix form.
7.
FIGURE PM

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