! TConsider a PR arm with configuration variables q,92the Lagrangian is given by:11m, + m i +, ml} +I3 4¿ – mglzġiġ2 sin q, – mg l, +l3 siL= K – Pm¡ +mef2nq2where mof т, +т,Derive the equations of motion in standard form.

L=k-p=12m1+mefq12+12mcfl23+I3q22-mefl3q1q2sinq2-mefgl2+l3sinq2where mef=m2+mr

T Consider a PR arm with configuration variables q1,92 the Lagrangian is given by: 1 L=K – P=- m, + mg + ml +I; 4 –mglzġġ2 sin q, – mfg l, +!½ sin q, where me =m, +m, Derive the equations of motion in standard form.

T Consider a PR arm with configuration variables q1,92 the Lagrangian is given by: 1 L=K – P=- m, + mg + ml +I; 4 –mglzġġ2 sin q, – mfg l, +!½ sin q, where me =m, +m, Derive the equations of motion in standard form.

Elements Of Electromagnetics

7th Edition

ISBN:9780190698614

Author:Sadiku, Matthew N. O.

Publisher:Sadiku, Matthew N. O.

ChapterMA: Math Assessment

Section: Chapter Questions

Problem 1.1MA

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Chemical and Phase Equilibrium

Phase diagrams or equilibrium phase diagrams are the graphical representations that show the phase transformations of the constituting elements with respect to the pressure, temperature, and compositions. The diagrams show the conditions that limit the different phases, namely solid, liquid, and gas. The diagram can also be utilized to verify the relations between the state variables. Most of the phase diagrams are temperature-pressure phase diagrams, with the variable parameter as the composition. Usually other variables such as solubility and pressure parameters are not indicated in the phase diagram. For a one-component system (unary phase diagram), the phase diagram is generally a function of temperature and pressure as the state variables, or temperature and volume. However, for a binary system (two-phase) having two components, the phase diagram is a function of temperature and composition as the state variables only. Coexisting of the different phases of the constituting elements is indicated in the phase diagram. A ternary phase diagram can be characterized by consisting of three phases in equilibrium.

Question

T
Consider a PR arm with configuration variables q,92
the Lagrangian is given by:
1
1
m, + m i +, ml} +I3 4¿ – mglzġiġ2 sin q, – mg l, +l3 si
L= K – P
m¡ +mef
2
nq2
where mof т, +т,
Derive the equations of motion in standard form.

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