The generalized coordinates selected for the compound pendulum are the x, y coordinates of the lower end and the rotation angle of the upper bar. Perform a kinematical analysis to derive the velocity constraint equation relating these variables. Then perform a geometrical analysis of position to derive the configuration constraint. Prove that differentiating the configuration constraint leads to the velocity constraint.

x22.=L1cosθ1θ1. + L2cosθ2θ2.

y22.=-L1sinθ1.θ1. + L2sinθ2.θ2.

θ1.=θ1.+θ1..dt

Explanation:

the step-by-step solution is in the image

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