x1 x2

θ1
L1

y1 m1
L2
θ2
m2

y2

A Double Pendulum Variables and Parameters

Position of Masses
Josh Altic Energy in the System
Using a Lagrangian
May 15, 2008
Numerical Results . . .
Conclusion

Abstract Matlab GUI

In my project I will model the behavior a system consisting of a pendulum hanging from
a point with another pendulum attached to the weight at the end of the first pendulum. Home Page

I will also calculate the energy in the system. In short, I will investigate and attempt to
model this system using differential equations. Title Page

JJ II
1. Variables and Parameters
My double pendulum system will consist of two masses connected by weightless bars. The top J I
bar will have length L1 and mass at the end of this bar will have mass m1 . The bar attached to
this mass will have length L2 and the mass attached the end of this second bar will have mass Page 1 of 17
m2 . I will call the point from which the first pendulum, the pendulum with length L1 and mass
m1 , pivots point O. I will let the angle that the first bar makes with a vertical line drawn down Go Back
from O be represented by θ1 and I will let the angle that the second bar makes with a vertical
line drawn down from m1 be represented by θ2 , where counter-clockwise angles are positive. If
Full Screen
I set this system in an xy-plane with O being the origin, I can find the position of the masses.
I am also going to let the x-position of m1 to be x1 and the y-position of m1 to be y1 . The x
and y position of m2 will be x2 and y2 . This gives me this list of variables and parameters that Close
correspond to the labels on figure 1:
Quit
 x1 x2
O

θ1
L1

y1 m1
L2
θ2
m2

y2

Variables and Parameters

x1 x2 Position of Masses
O
Energy in the System
Using a Lagrangian
θ1
Numerical Results . . .
L1 Conclusion
Matlab GUI

Home Page
y1 m1
L2 Title Page
θ2
m2 JJ II

J I
y2
Page 2 of 17

Go Back
Figure 1: double pendulum
Full Screen

Close

Quit
 x1 x2
O

θ1
L1

• length of the bar of the first pendulum = L1 y1 m1

L2
θ2
m2

• mass at the end of the first pendulum = m1 y2

• length of the bar of the second pendulum = L2

Variables and Parameters
• mass at the end of the second pendulum = m2 Position of Masses

• the point O is the origin and is where the first pendulum pivots from Energy in the System
Using a Lagrangian
• angle made by the bar of the first pendulum and the line of rest = θ1 Numerical Results . . .

• angle made by the bar of the second pendulum and the line of rest = θ2 Conclusion
Matlab GUI
• the x-position of m1 = x1
• the y-position of m1 = y1 Home Page

• the x-position of m2 = x2
Title Page
• the y-position of m2 = y2
I am also going to let K represent the kinetic energy in the system and P represent the JJ II
potential or gravitational energy of the system.
J I

2. Position of Masses Page 3 of 17

It is very simple to find equations for the x-position and the y-position of the first mass using
trigonometry: Go Back

x1 = L1 sin(θ1 )
Full Screen
y1 = −L1 cos(θ1 )

To find the position of the second mass I simply add to the position of the first mass. Close

x2 = x1 + L2 sin(θ2 )
Quit
 x1 x2
O

θ1
L1

From this we get y1 m1

L2
x2 = L1 sin(θ1 ) + L2 sin(θ2 ) θ2
m2

y2

I do the same thing for the y-position.

y2 = y1 − L2 cos(θ2 ) Variables and Parameters

Position of Masses
From this I get Energy in the System
y2 = −L1 cos(θ1 ) − L2 cos(θ2 ). (1) Using a Lagrangian

So I get these formulas for the position of the masses of the pendula: Numerical Results . . .
Conclusion
x1 = L1 sin(θ1 ) (2) Matlab GUI
y1 = −L1 cos(θ1 ) (3)
x2 = L1 sin(θ1 ) + L2 sin(θ2 ) (4) Home Page

y2 = −L1 cos(θ1 ) − L2 cos(θ2 ) (5)

Title Page
Differentiating I get
JJ II
ẋ1 = L1 cos(θ1 )θ̇1 (6)
y˙1 = L1 sin(θ1 )θ̇1 (7) J I
ẋ2 = L1 cos(θ1 )θ̇1 + L2 cos(θ2 )θ̇2 (8)
ẏ2 = L1 sin θ1 θ̇1 + L2 sin(θ2 )θ̇2 . (9) Page 4 of 17

If we square all of the entries in this list I get Go Back

ẋ21 = L21 cos (θ1 )θ̇12

2
(10)
Full Screen
y˙1 2 = L21 sin2 (θ1 )θ̇12 (11)
ẋ22 = L21 cos2 (θ1 )θ̇12 + 2L1 L2 cos(θ1 ) cos(θ2 )θ̇1 θ̇2 + L22 cos2 (θ2 )θ̇22 (12) Close
ẏ22 = L21 sin2 θ1 θ̇12 + 2L1 L2 sin θ1 sin θ2 θ̇1 θ̇2 + L22 sin2 (θ2 )θ̇22 . (13)
Quit
 x1 x2
O

θ1
L1

3. Energy in the System y1 m1

L2
θ2
m2

I must now look at the energy in my double pendulum. This system has two different forms of y2

energy: kinetic energy (the energy of motion) and potential or gravitational energy (the energy
available to the system caused by the pull of gravity). The gravitational energy of this system Variables and Parameters
is the gravitational energy in the first pendulum plus the gravitational energy in the second
Position of Masses
pendulum. Thus I get
Energy in the System
P = m1 gy1 + m2 gy2 ,
Using a Lagrangian
where P is the potential energy of the system. With substitution from equation (3) and equa- Numerical Results . . .
tion (5) I get Conclusion
P = −(m1 + m2 )gL1 cos(θ1 ) − m2 L2 g cos(θ2 ) (14) Matlab GUI
I must now calculate the kinetic energy of the system. Like with potential energy the total
kinetic energy is the sum of the kinetic energies of the two pendula. Home Page

1
K= m(ẋ2 + ẏ 2 ). (15) Title Page
2
This brings me to this formula for the kinetic energy of the system:
JJ II
1 1
K = m1 (ẋ21 + y˙1 2 ) + m2 (ẋ22 + ẏ22 ).
2 2 J I
Using equations (10), (11), (12) and (13) I get
Page 5 of 17
1
K = m1 (L21 cos2 (θ1 )θ̇12 + L21 sin2 (θ1 )θ̇12 )+
2
Go Back
1
m2 [L21 cos2 (θ1 )θ̇12 + 2L1 L2 cos(θ1 ) cos(θ2 )θ̇1 θ̇2 + L22 cos2 (θ2 )θ̇22 +
2
L21 sin2 θ1 θ̇12 + 2L1 L2 sin θ1 sin θ2 θ̇1 θ̇2 + L22 sin2 (θ2 )θ̇22 ]. Full Screen

Close

Quit
 x1 x2
O

θ1
L1

This simplifies to y1 m1
L2
θ2
m2

1
K = m1 L21 θ̇12 (cos2 (θ1 ) + sin2 (θ1 ))+ y2

2
1
m2 [L21 θ˙12 (cos2 (θ1 ) + sin2 (θ1 )) + L22 θ̇22 (cos2 (θ2 ) + sin2 (θ2 ))+ Variables and Parameters
2
Position of Masses
2L1 L2 θ̇1 θ̇2 (cos(θ1 ) cos(θ2 ) + sin(θ1 ) sin(θ2 )].
Energy in the System

This simplifies to: Using a Lagrangian

Numerical Results . . .
1 1
K = m1 θ̇12 L21 + m2 [θ̇12 L21 + θ̇22 L22 + 2θ̇1 L1 θ̇2 L2 cos(θ1 − θ2 )]. (16) Conclusion
2 2 Matlab GUI

4. Using a Lagrangian Home Page

The Lagrangian(L) of a system is the kinetic energy of the system minus the potential energy.
Title Page
This gives me

L = K − P. (17) JJ II
Using equations (16) and (14) I get
J I

1 1
L= m1 (θ̇1 L1 )2 + m2 [(θ̇1 L1 )2 + (θ̇2 L2 )2 + 2θ̇1 L1 θ̇2 L2 cos(θ1 − θ2 )]− Page 6 of 17
2 2 (18)
[−(m1 + m2 )gL1 cos(θ1 ) − m2 L2 g cos(θ2 )].
Go Back
Simplifying I get
Full Screen
1 1
L = (m1 + m2 )L21 θ̇12 + m2 L22 θ̇22 + m2 L1 L2 θ̇1 θ̇2 cos(θ1 − θ2 )+
2 2 (19) Close
(m1 + m2 )gL1 cos(θ1 ) + m2 L2 g cos(θ2 ).
Quit
 x1 x2
O

θ1
L1

This Euler-Lagrange differential equation must be true: y1 m1

L2
θ2
  m2

d ∂L ∂L
− =0 (20) y2

dt ∂ θ̇ ∂θ
For θ1 I get Variables and Parameters
Position of Masses
Energy in the System
∂L
= m1 L21 θ̇1 + m2 L21 θ̇1 + m2 L1 L2 θ̇2 cos(θ1 − θ2 ) (21) Using a Lagrangian
∂ θ̇1
  Numerical Results . . .
d ∂L
= (m1 + m2 )L21 θ̈1 + m2 L1 L2 θ̈2 cos(θ1 − θ2 ) Conclusion
dt ∂ θ̇1
Matlab GUI
− m2 L1 L2 θ̇2 sin(θ1 − θ2 )(θ̇1 − θ̇2 (22)
∂L Home Page
= −L1 g(m1 + m2 ) sin(θ1 ) − m2 L1 L2 θ̇1 θ̇2 sin(θ1 − θ2 ). (23)
∂θ1
Title Page
Substituting equations (21), (22), and (23) into the Euler-Lagragnge (equation (20)) I get

(m1 + m2 )L21 θ̈1 + m2 L1 L2 θ̈2 cos(θ1 − θ2 ) + m2 L1 L2 θ̇22 sin(θ1 − θ2 )+ JJ II

gL1 (m1 + m2 ) sin(θ1 ) = 0
J I
Simplifying and solving for θ̈1 I get
Page 7 of 17
−m2 L2 θ̈2 cos(θ1 − θ2 ) − m2 L2 θ̇22 sin(θ1 − θ2 ) − (m1 + m2 )g sin(θ1 )
θ̈1 = . (24)
(m1 + m2 )L1
Go Back
Likewise for θ2 I get
Full Screen

Close

Quit
 x1 x2
O

θ1
L1

y1 m1
L2
θ2

∂L m2

= m2 L22 θ̇2 + m2 L1 L2 θ̇1 cos(θ1 − θ2 ) (25) y2

∂ θ̇2
 
d ∂L
= m2 L22 θ̈2 + m2 L1 L2 θ̈1 cos(θ1 − θ2 ) − m2 L1 L2 θ̇1 sin(θ1 − θ2 )(θ̇1 − θ̇2 ) (26) Variables and Parameters
dt ∂ θ̇2 Position of Masses
∂L Energy in the System
= m2 L1 L2 θ̇1 θ̇2 sin(θ1 − θ2 ) − L2 m2 g sin(θ2 ). (27)
∂θ2 Using a Lagrangian

Like with θ1 substituting equations (25), (26), and (27) into the Euler-Lagrange (equa- Numerical Results . . .

tion (20) I get Conclusion

Matlab GUI

m2 L22 θ̈2 + m2 L1 L2 θ̈1 cos(θ1 − θ2 ) − m2 L1 L2 θ̇1 sin(θ1 − θ2 )(θ̇1 − θ̇2 )−

Home Page
m2 L1 L2 θ̇1 θ̇2 sin(θ1 − θ2 ) + L2 m2 g sin(θ2 ) = 0.

Dividing through by L2 and m2 I get Title Page

L2 θ̈2 + L1 θ̈1 cos(θ1 − θ2 ) − L1 θ̇12 sin(θ1 − θ2 ) + g sin(θ2 ) = 0. JJ II

Solving for θ̈2 I get
J I
−L1 θ̈1 cos(θ1 − θ2 ) + L1 θ̇12 sin(θ1 − θ2 ) − g sin(θ2 )
θ̈2 = . (28)
L2 Page 8 of 17

This gives me an equation for θ̈1 that depends on θ̈2 and an equation for θ̈2 that depends
on θ̈1 . I can use these two equations to make two more equations that have either θ̈1 or θ̈2 in Go Back
them but not both.
Substituting equation (28) into equation (24) I get Full Screen
" #
−L1 θ̈1 cos(θ1 − θ2 ) + L1 θ̇12 sin(θ1 − θ2 ) − g sin(θ2 )
θ̈1 (m1 + m2 )L1 = −m2 L2 cos(θ1 − θ2 )− Close
L2
m2 L2 θ̇22 sin(θ1 − θ2 ) − (m1 + m2 )g sin(θ1 ). Quit
 x1 x2
O

θ1
L1

If I move all the terms that contain θ̈1 in them to the left hand side I get y1 m1
L2
θ2
m2

y2

θ̈1 L1 (m1 + m2 ) − m2 L1 cos2 (θ1 − θ2 ) = −m2 L1 θ̇12 sin(θ1 − θ2 ) cos(θ1 − θ2 )+

 

gm2 sin(θ2 ) cos(θ1 − θ2 ) − m2 L2 θ̇22 sin(θ1 − θ2 ) − (m1 + m2 )g sin(θ1 ). Variables and Parameters
Position of Masses
After solving for θ̈1 , I get Energy in the System
Using a Lagrangian
−m2 L1 θ̇12 sin(θ1 − θ2 ) cos(θ1 − θ2 ) + gm2 sin(θ2 ) cos(θ1 − θ2 )
Numerical Results . . .
−m2 L2 θ̇22 sin(θ1 − θ2 ) − (m1 + m2 )g sin(θ1 ) Conclusion
θ̈1 = . (29)
L1 (m1 + m2 ) − m2 L1 cos2 (θ1 − θ2 ) Matlab GUI

Likewise I can substitute equation (24) into equation (28) to get

Home Page
" #
m2 L2 θ̈2 cos(θ1 − θ2 ) + m2 L2 θ̇22 sin(θ1 − θ2 ) + (m1 + m2 )g sin(θ1 ) Title Page
θ̈2 L2 = L1 cos(θ1 − θ2 )+
(m1 + m2 )L1
L1 θ̇12 sin(θ1 − θ2 ) − g sin(θ2 ). JJ II

Bringing all terms that have θ̈2 in them to the left hand side and factoring I get J I
L2 (m1 + m2 ) − m2 L2 cos2 (θ1 − θ2 ) m2 L2 θ̇22 sin(θ1 − θ2 ) cos(θ1 − θ2 )
 
θ̈2 = + Page 9 of 17
m1 + m2 m1 + m2
g sin(θ1 ) cos(θ1 − θ2 ) + L1 θ̇12 sin(θ1 − θ2 ) − g sin(θ2 ).
Go Back

Then solving for θ̈2 I get

Full Screen
m2 L2 θ̇22 sin(θ1 − θ2 ) cos(θ1 − θ2 ) + g sin(θ1 ) cos(θ1 − θ2 )(m1 + m2 )
+L1 θ̇12 sin(θ1 − θ2 )(m1 + m2 ) − g sin(θ2 )(m1 + m2 ) Close
θ̈2 = . (30)
L2 (m1 + m2 ) − m2 L2 cos2 (θ1 − θ2 )
Quit
 x1 x2
O

θ1
L1

I now have two second order differential equations that I will be able make into four first y1 m1
L2
order differential equation. Setting up different variables for θ1 , θ2 ,θ̇1 ,θ̇2 I get this system: θ2
m2

y2

z1 = θ1 (31) Variables and Parameters

z2 = θ2 (32) Position of Masses

z3 = θ̇1 (33) Energy in the System

Using a Lagrangian
z4 = θ̇2 (34)
Numerical Results . . .

Differentiating this list I get Conclusion

Matlab GUI

ż1 = θ̇1 (35) Home Page

ż2 = θ̇2 (36)
ż3 = θ̈1 (37) Title Page

ż4 = θ̈2 . (38)

JJ II
Using equations (35) and (33) I get
J I
ż1 = z3 . (39)

Using equations (36) and (34) I get Page 10 of 17

ż2 = z4 . (40) Go Back

Using equations (37) and (29) I get

Full Screen
−m2 L1 z42 sin(z1 − z2 ) cos(z1 − z2 ) + gm2 sin(z2 ) cos(z1 − z2 )
−m2 L2 z42 sin(z1 − z2 ) − (m1 + m2 )g sin(z1 ) Close
ż3 = . (41)
L1 (m1 + m2 ) − m2 L1 cos2 (z1 − z2 )
Quit
 x1 x2
O

θ1
L1

Using equations (38) and (30) I get y1 m1

L2
θ2

m2 L2 z42
m2

sin(z1 − z2 ) cos(z1 − z2 ) + g sin(z1 ) cos(z1 − z2 )(m1 + m2 ) y2

+L1 z42 sin(z1 − z2 )(m1 + m2 ) − g sin(z2 )(m1 + m2 )

ż4 = . (42)
L2 (m1 + m2 ) − m2 L2 cos2 (z1 − z2 ) Variables and Parameters
Position of Masses

5. Numerical Results Using Matlab Energy in the System

Using a Lagrangian
Equations (39), (40), (41) and (42) give me a system of four first order differential equations in Numerical Results . . .
four variables. All though these are too complicated for me to solve analytically, I can use the Conclusion
ode45 solver in Matlab to get some numerical results. First I make my function file by letting Matlab GUI
ż = zprime be a column vector with four elements and letting z be a column vector with four
elements. For the sake of convenience I pass the parameters m1, m2, L1, L2 and g into my
Home Page
function.This is the Matlab code I used:
function zprime=Pend(t,z,m1,m2,L1,L2,g)
Title Page
zprime=zeros(4,1);
zprime(1)=z(3);
zprime(2)=z(4); JJ II
zprime(3)=(-m2*L1*z(4)^2*sin(z(1)-z(2))*cos(z(1)-z(2))...
+g*m2*sin(z(2))*cos(z(1)-z(2))-m2*L2*z(4)^2*sin(z(1)-z(2))... J I
-(m1+m2)*g*sin(z(1)))/(L1*(m1+m2)-m2*L1*cos(z(1)-z(2))^2);
zprime(4)=(m2*L2*z(4)^2*sin(z(1)-z(2))*cos(z(1)-z(2))...
Page 11 of 17
+g*sin(z(1))*cos(z(1)-z(2))*(m1+m2)+L1*z(4)^2*sin(z(1)-z(2))*(m1+m2)...
-g*sin(z(2))*(m1+m2))/(L2*(m1+m2)-m2*L2*cos(z(1)-z(2))^2);
Go Back
Next I set up a script file that defines the parameters m1, m2, L1, L2 and g and the initial
values of θ1 (t1), θ2 (t2), θ̇1 (t1prime) and θ̇2 (t2prime), calls ode45, saves a column vector of Full Screen
time values (t) and a column vector of z values that has four columns z1 , z2 , z3 and z4 , which
are, according to equations (31)-(34), θ1 , θ2 , θ̇1 and θ̇2 respectively. I start with this code:
Close
t1=pi/2;
t2=0;
Quit
 x1 x2
O

θ1
L1

2
θ1 0 m2 y1 m1
L2
1.5 m1 θ2
θ2 m2

1
−0.5 y2

0.5

y1 and y2
θ1 and θ2

0 −1
Variables and Parameters
−0.5
−1.5 Position of Masses
−1
Energy in the System
−1.5
−2
−2
Using a Lagrangian
0 1 2 3 4 5 −1 −0.5 0 0.5 1 1.5
t x1 and x2 Numerical Results . . .
Conclusion
Figure 2: the position of m1 and m2 Figure 3: the position of m1 and m2 Matlab GUI
over time over time
Home Page

t1prime=0;
t2prime=0; Title Page
m1=2;
m2=1;
JJ II
L1=1;
L2=1;
g=9.81; J I
[t,z]=ode45(@Pend,[0,5],[t1;t2;t1prime;t2prime],[],m1,m2,L1,L2,g);
Page 12 of 17
I would like to be able to plot the position of the two masses as time goes forward so that
I can check to see if my numerical solution is reasonable so I use equations (2), (3), (4) and
Go Back
(5), replacing θ1 with the first column of z and θ2 with the second column of z. So I add this
Matlab code:
Full Screen
x1=L1*sin(z(:,1));
y1=-L1*cos(z(:,1));
x2=L1*sin(z(:,1))+L2*sin(z(:,2)); Close

y2=-L1*cos(z(:,1))-L2*cos(z(:,2));
Quit
 x1 x2
O

θ1
L1

m1 m1 y1 m1

1 0.5 L2
m2 m2 θ2
m2

0.5 0 y2

y1 and y2

y1 and y2
0 −0.5

−0.5 Variables and Parameters

−1
−1 Position of Masses
−1.5
−1.5
Energy in the System
−2 Using a Lagrangian
−2 −1 0 1 2 −1.5 −1 −0.5 0 0.5 1 1.5
x1 and x2 x1 and x2 Numerical Results . . .
Conclusion
Figure 4: the position of m1 and m2 Figure 5: the position of m1 and m2 Matlab GUI
over time over time
Home Page

In order to see the numerical results I will plot θ1 versus time, θ2 versus time and, in order
to see that actual motion of the bobs on the two pendulums I will plot x1 verses y1 and x2 Title Page
verses y2 on the same axes. So I will add this code to my script file:
This Matlab code yields figure 2 and 3.
JJ II

6. Conclusion J I

6.1. Types of Behavior Page 13 of 17

There are three different types of behavior exhibited by this system: chaotic, semi-cyclical
and cyclical. Here are some examples. Figure 4 and 5 are examples of chaotic motion of the Go Back
double pendulum system. Figures 6 and 7 are examples of quasi-cyclical behavior of the system.
Figures 8 and 9 are examples of cyclical behavior in the system. Full Screen

Close

Quit
 x1 x2
O

θ1
L1

y1 m1
L2
θ2
m2
2 2
m1 m1 y2
1.5 m2 1.5 m2
1 1

0.5 0.5 Variables and Parameters

y1 and y2

y1 and y2
0 0 Position of Masses
−0.5 −0.5 Energy in the System
−1 −1 Using a Lagrangian
−1.5 −1.5
Numerical Results . . .
−2 −1 0 1 2 −2 −1 0 1 2 Conclusion
x1 and x2 x1 and x2
Matlab GUI

Figure 6: the position of m1 and m2 Figure 7: the position of m1 and m2

over time over time Home Page

Title Page

JJ II
m1 m1
m2 1.5 m2
1.5
1
1
J I
0.5
y1 and y2

y1 and y2

0.5 0
Page 14 of 17
−0.5
0
−1
−0.5
−1.5 Go Back
−2
−1.5 −1 −0.5 0 0.5 1 1.5 −2 −1 0 1 2
x1 and x2 x1 and x2
Full Screen

Figure 8: the position of m1 and m2 Figure 9: the position of m1 and m2

over time over time Close

Quit
 x1 x2
O

θ1
L1

2 m1 y1 m1
L2
m1 1.5 m2 θ2
1.5 m2
m2

1
y2
1
0.5

y1 and y2
0.5
y1 and y2

0
0 Variables and Parameters
−0.5
−0.5 Position of Masses
−1
−1 Energy in the System
−1.5
−1.5
Using a Lagrangian
−2 −1 0 1 2
−2 −1 0 1 2 x1 and x2 Numerical Results . . .
x1 and x2
Conclusion
Figure 11: the position of m1 and m2 Matlab GUI
Figure 10: the position of m1 and m2
over time with L1 = .93 and L2 =
over time with L1 = 1 and L2 = 1
1.05 Home Page

6.2. Chaotic behavior of the sysetm Title Page

Another characteristic of this system is that small changes in the initial conditions of the system
can produce drastic changes in the behavior of the second mass. With L1 = 1, L2 = 1, the JJ II
initial angles θ1 and θ2 set at just a tiny bit under π I get the behavior shown in figure 10 but if I
5 7
increase the length of L2 by 100 and decrease L1 by 100 I get the behavior observed in figure 11. J I
One of these examples exhibits quasi-cyclical behavior while the other shows completely chaotic
behavior.
Page 15 of 17

Go Back

Full Screen

Close

Quit
 x1 x2
O

θ1
L1

7. Matlab GUI y1 m1
L2
θ2
m2

I also made a Matlab GUI that animates my double pendulum model. The user can vary the y2

length of the pendulum bars, the mass of the pendulum bobs, the initial θ1 , θ2 , θ˙1 and θ˙2 values,
the time span and the number of points used by ode45 to generate the numeric values for the Variables and Parameters
animation. A large number of points will cause the animation to proceed slower and a small
Position of Masses
number of points will cause the animation to speed up. This GUI can be accessed at:
Energy in the System
http://online.redwoods.cc.ca.us/instruct/darnold/DEProj/sp08/jaltic/ Using a Lagrangian
DoublePendulumAnimation.zip Numerical Results . . .
Conclusion
Matlab GUI

Home Page

Title Page

JJ II

J I

Page 16 of 17

Go Back

Full Screen

Close

Quit
 x1 x2
O

θ1
L1

References y1 m1
L2
θ2
m2

[1] Atam P. Arya Introduction To Classical Mechanics, Upper Saddle River, NJ: Prentice Hall, y2

1998.
Variables and Parameters
Position of Masses
Energy in the System
Using a Lagrangian
Numerical Results . . .
Conclusion
Matlab GUI

Home Page

Title Page

JJ II

J I

Page 17 of 17

Go Back

Full Screen

Close

Quit