% pendulum.al
%
% Variable Definition
%
newtonian e
bodies a, b
constants la, lb, g
variables q{2}', u{2}'
%
% Mass Properties
%
mass a = ma, b = mb
inertia a, a1
inertia b, b1, b2, b3
%
% Generalized Speeds
%
q1' = u1
q2' = u2
%
% Kinematics
%
simprot(e, a, 1, q1)
simprot(a, b, 3, q2)
w_a_e> = q1'*a1>
w_b_e> = w_a_e> + q2'*b3>
v_ao_e> = la*q1'*a2>
v_bo_e> = lb*q1'*a2>
alf_a_e> = dt(w_a_e>, e)
alf_b_e> = dt(w_b_e>, e)
a_ao_e> = dt(v_ao_e>, e)
a_bo_e> = dt(v_bo_e>, e)
%
% Forces
%
gravity(-g*e3>)
f = fr()
fstar = frstar()
zero = fr() + frstar()
kane()
solve(zero, [u1', u2'])
output t, q2
output t, q1
units q{1:2} = deg
units u{1:2} = deg/s
units [ma; mb] = kg
units [la; lb] = m
units g = m/s^2
units [a1; b1; b2; b3] = kg*m^2
input ma = 0.01, mb = 0.1
input g = 9.81
input la = 0.075, lb = 0.2
input a1 = 0.000005
input b1 = 0.00025, b2 = 0.00005, b3 = 0.0002
code dynamics() pendulum.c, subs