First of all, in order to characterize the instantaneous configuration of the system, we employ

the generalized coordinates. These are quantities associated with the position of the system.

The generalized co-ordinates are as follows:

q1(t) denotes the linear displacement of the slider.
q2(t) is the radian measure of the angle between the vertical axis
and the line AB ( the horizontal)

We then select a Cartesian reference xOyz with the unit vectors [i,j and k]

The position vector of mass 1, (the long bar) is

r 1=r A=q1 ( t ) i

Position vector of mass 2 is

r 2=r B =[q1 ( t )+ LSin q2 ( t ) i]+ LCos q2 (t) j

Velocity of slider 1 is given by

d rA
vA= =r˙A =q˙1 i
dt

And the velocity of B (the bottom link) is given by

dr B
v B= =r˙B ( q̇1 + L q̇2 cos q2 ) i−L q̇2 sin q2 j
dt

Kinetic energy of slider 1 is given by the equation

1 1
T 1= m v A . v A= m q̇ 21
2 2

Whereas that of mass 2 is given by

1 1
T 2= M v B . v B = M ( q̇21 +2 L q˙1 q˙2 cos q2 + L2 q̇22 )
2 2

The total kinetic energy is given by

T =T 1+T 2

The force acting on the long bar are the spring force as well as the force of gravity

F A=−k q1 i+ mgj
Where the value g=9.81 m/s is the acceleration due to gravity. The gravitational force acts force
2

acts on mass 2 (the second bar) at a point we can call B.

F B=Mgj

In this case, there are two generalized forces. The force associated to our q 1 is

∂rA ∂rB
Q1=F A . +FB .
∂ q1 ∂q 1

(−k q1 i +mgj ) .i+ Mgj . i=−k q 1

The force associated with q 2 is
∂rA ∂rB
Q2=F A . + FB .
∂ q2 ∂q 2
(−k q1 i +mgj ) .0+ Mgj . ( LCos q 2 i−LSin q2 j )=−MgLSin q2

Thus the Lagranges equations are

( )( )
d ∂T
dt ∂ q̇1
−
∂T
∂ q1
=Q1

dt ( ∂ q̇ ) ( ∂ q )
d ∂T ∂T
− =Q 2
2 2
∂T
q 1 is calculated by =( m+ M ) q 1+ LM q 2 cos q2
∂ q̇1

( )
d ∂T
dt ∂ q̇1
=( m+ M ) q¨1+ LM q̈2 cos q 2−LM q̇22 sin q2

( ∂∂ qT )=0
1

For the generalized co-ordinate (q 2 ¿, the left hand side of the equation will be:
∂T
∂ q̇2( )
=LM ( q̇1 cos q 2+ L q˙2)

dt ( ∂ q̇ )
d ∂T
=LM ( q̈ cos q −q˙ q˙ sin q + L q¨ )
1 2 1 2 2 2
2
∂T
=−LM q̇1 q̇2 sin q2
∂ q2

Thus, the equations of motion will be given by

( m+ M ) q¨1 + LM q¨2 cos q2−LM q̇22 sin q2=−k q1
And
LM ( q̈1 cos q 2−q̇1 q̇ 2 sin q 2+ L q̈ 2) + LM q̇ 1 q̇ 2 sin q 2=−MgLSin q2

Newton-Euler Method
This method combines the forces and torques acting on a rigid body into a single equation.
Newton: ∑ F=m. a
Euler : ∑ T =I .∝=I . θ̈
We are required to move both massesmi out of their positions of equilibrium, x i with velocities
of ẋ i

Employing momentum pi=mi . v i of mass mi, Newton’s equation of motion of the system will be
given by
d d
F i= p i= mi . v i
dt dt
I
When the motion of a body with mass moment i has rotational movement, the equation of
motion is given by Eulers equation in which the moment of momentum:
Li=I i ω of mass mi is given by:

d d
M i= Li= (I i ω)
dt dt

Therefore:
ma=−cv−kx + f ( x , v ,t )

The equilibrium position of a vibrating system is where the potential energy of

the system, V , is extremum i.e.:

∂V
=0
∂x
A linear system with constant stiffness, in this case k , only have one equilibrium.

∂2 V
If 2
>0 , then the system is stable.
∂x
However, if
2
∂V
<0 , then the system is unstable.
∂ x2

The equation of mothion in a linear system can therefore be given as a set of second orfer
differential equations as follows:
[ m ] ẍ + [ c ] ẋ + [ k ] x=F

The equation of motion in this case can therefore be found by taking moments about point A.

∑ M A =I A . θ̈
2
mg=lsinθ−kaθ ( aCosθ )=m l θ̈