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The following system is 2 degree of
freedom system that consists of a
moving block having mass m,, and
an inverted pendulum of mass m2
that vibrates in the angular
direction around block m1. The
m2
inverted pendulum is constrained
by a torsional spring k2. Determine
the equation of motion of the
system in the matrix form.
kl
kl
www
m1

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