Determine the kinetic energy of the system at an arbitrary instant in terms of the indicated generalized coordinates. Make necessary linearizing assumptions and put the kinetic energy in the quadratic for of Eq. 5.7. Use the quadratic form of the kinetic energy to determine the mass matrix for the system.

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Forms of Energy

Energy is described as the capability to accomplish a task, like the ability to push a block by applying force on it. It is a quantitative property that is used to accomplish work on an object.