The unforced, two-DOF figure
shown has two masses. One is fixed at the end of a rigid, massless
rod, acting as pendulum which can swing about the point where it is
pinned. The system is at equilibrium when the pendulum hangs
straight down, with ф and x equal to 0. We may
assume that ф remains small.
In terms of the given mass, damping, and stiffness parameters and the lengths shown:
a) Find the equations of motion of the two masses.
b) Put the equations into matrix form and clearly label the [m], [c], and [k] matrices, assuming that the state vector is \binom{ф}{x}(xф).
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The unforced, two-DOF figure
shown has two masses. One is fixed at the end of a...
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