Assfgnment=2- © Pedouble pendulomn tonfined Fo move’ fry & alone 2= BY cool “y NA j ee i oT ~ TM é ~ a) ( © Por vr the double a sito shoo poaticies (N22) with; postion wectoss FB andl Be. There cre Yonstetinis + Cech , pastcbe roving in Sty [plone Ong each od a, Gonstont lengths. So. DoF= - SN- > an-4 = - & snakes tt © eee hee? Fo-Shingg | ane ‘the Hose ona. (1B Work clone by fowes of Conshstint in Making q Vinal.» displacement °- The 7 Paston ver of = y ee ee Tension T & GPrencetea in shing 4 ore Terson 7 & teu “ Se 4 -%, ‘ he -(%- i) fs B= Acne C = Loop % = (Qon9,4,sina) + (Mos, hig SS = (Kb ost + LSing p\og, HFWao, = L (4) t0s8, 69, +-4.r030; 66,90 +[ 0) Sn9, 66 ,+-Bénsasa)| Aye HG = “Ti ltinas t-cos09) 5 Fe - h[-) § ~T bin6,2- seg) 1-8) v4 Nona, Cove dan€ by (owheuin’ Gear tn- 6B t fore on my In Listy dsplorcnent = ~Tr[gnet - @ 6x) [ices 48/+-fr10s0s 60.) € + (4sn9,66, +-A5rO 62)J] = —Tr[_Bilas8sner 66) + LS 9xtwHOOy, — Dy los8) $n8; 98, = LaSinSxhe65 88 ) Was —Thdy ( Cos0, 98, ~ sO, 99) 46, . fy woskdone on iW = F5% +4). se = forrest af btoser ei > ZT [Snot (osag)- (4 so, O44 Snaf) So, “Ty, (Sn Ox — Gon) [Heesoi + 48995) 66) = (gna fox0, _ (esos) + Ti( S030; = rend = hd, (Snerfesd, ~(ps82Sind) 6B, wy cp net workdone by COhseauint fates & ny We Wtwr : 2 Ths (Und; fos8 ,~(08 0 9nd) $6, llr, Oks, = . Sina) tp Sirf def eve. }is : © We discs onds4nea fo wl tchinc: Hpbi |e vdling He one plone Stegary nd-thev bxe..) 4 no Rein then ‘the 0. Cactdfnates tetQre Bginecl FO Complely specify the Configincarion Lal be Sa awk te 5 ® he fasion coosatncaes COuy) OF thelpaint of » festellecte ContactLaith the gpoord tn a fiveel frame, 7 T @ roa 8 Wvnadentzing 1g the dls Overton waif SEOXIS , | 7 WT Gygle P bho G chaser weechal ax’ on disk Chel the Verte Onis: ® fe orgie thatre axis Qf rotation One the vertiel Gxs. 9 5 Kia Son fod Le need Stoordlinates (QMny, 1 6, ¥), Fox win wnat slog V=Rue Ne Ro Viele vees0 = Rite _ ; Usge “vine'= -Rbeho” (orabining these crditions, We hove hb ‘se afjentas U@ Rscunts = et ee 2 pesca ReRedDs S Oe ek : dy + Reine dp= b “Ang weiner of Theat equations (un be Anequaied athet IPOee hence the (onsteconts Connat be seduced totem flo14,6,4,) , : 4 ,* piel vivtalo ok , ~Sdlviry the bistlem , cothereas Gacmageth=—So thane Erakons (ae Non~iniegeable dittenenbal, euaHions . Arel Grol Gne theyre Non~holonomic lonsbaint Sor, 9c the DoF wsilbe S. ie : = Re, F Lel the vishal displacement be & 88. ing ot 4 oe Ak 2 a Poinohle of Viniuad Woks aterillbsion & F% $57 = 0 So, Qa Vidkaldisblaement torfrue P= abe n n "My > Wet Jo0 “" Res fea, Ret6O — my (ct) 60~- Proo=o => Role mgl eazy +P Ra= Lg tay + & Let the vistual df be 60. Spltonmng ax= Llale-06) ~Moag y= Maid—beastortg) fy- Sora- Lsnia- ogyS3 be MosoceS0d + LonoSmgB~ Mase. >| = rasa(1-lo8 68) ae Ayne - Lemos © leasing Oy - = Lsnet- ee Novo; Vishal usork done PS + QS + tye Wox-= Oo» 2Pay ~~ IW-cX=0 -2-P. Amelie fasbay+ 2OLcasel (Mash e)=o 2flsmne= Whbrse => } Psne= Grose dos.