Consider the linkage in Figure P4 The spring may sustain com

Consider the linkage in Figure P-4. The spring may sustain compressive as well as tensile forces, and its unstretched length is L/2. The mass of each bar is m1, and m2 is the mass of collar C. (a) Let ~ M = 0 and ~ F = 0 so that the only external force acting on the system is due to gravity. Use Lagranges equations to derive the equation of motion for . (b) In addition to gravity, allow ~ M and ~ F to assume non-zero values. Determine the resulting generalized forces and augment the equation of part (a).

Solution

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