A pendulum is suspended from a torsionally restrained disk, as in Figure 5.42, where (alpha) is the

Question:

A pendulum is suspended from a torsionally restrained disk, as in Figure 5.42, where $\alpha$ is the angle of rotation of the disk, and $\theta$ is the relative angle of the pendulum measured from the disk. Derive the governing equation of motion using

(a) Lagrange's equation, and

(b) Hamilton's principle. Compare the equation of motion to the equation of the simple pendulum.

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