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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).

point, 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). The single plane pendulum, a simpler case, has a single particle hanging from a rigid rod. 2.1 Constraints The simple pendulum system has a single particle with position vector r = (x,y,z). There

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