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Single and Double plane pendulum - LSU

Single and Double plane pendulumGabriela Gonz alez1 IntroductionWe will write down equations of motion for a Single and a Double plane pendulum , followingNewton s equations, and using Lagrange s 1: A simple plane pendulum (left) and a Double pendulum (right). Also shown arefree body diagrams for the forces on each Newton s equationsThe Double pendulum consists of two massesm1andm2, connected by rigid weightlessrods of lengthl1andl2, subject to gravity forces, and constrained by the hinges in the rodsto move in a plane . We choose a coordinate system with the origin at the top suspension1point, the x-axis as a horizontal axis in the plane of motion, and the y-axis pointing down(so that gravity forces have positive components).

2, the best way to cast these equa-tions for analytical or numerical solution is to obtain two differential equations for θ 1,θ 2 without T 1,T 2 terms, and use their solutions in expressions for T 1,T 2 in terms of θ 1,θ 2 and their derivatives. We obtain such expressions for T 1,T 2 from Eqns. 44, 42: T 1 = −m 1 l 2 ¨θ 2 sin(θ 2 − ...

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