EQUATIONS

4𝜋 2 𝐼
𝛕= 2
𝑇

𝜃(𝑡) = 𝜃𝑚𝑎𝑥 cos(𝜔𝑡 + 𝜑)

𝜃̇ (𝑡) = −𝜔𝜃𝑚𝑎𝑥 sin(𝜔𝑡 + 𝜑)
𝜃̈(𝑡) = −𝜔2 𝜃𝑚𝑎𝑥 cos(𝜔𝑡 + 𝜑)
𝜃̈(𝑡) = −𝜔2 𝜃

𝛕 = −𝑘𝜃
𝛕 = 𝐼𝜃̈

𝐼𝜃̈ = −𝑘𝜃

𝐼𝜔2 = 𝑘

𝑘
𝜔=√
𝐼

𝐼
𝑇 = 2𝜋√
𝑘