Consider the two degree-of-freedom system shown in Figure 5.28. The springs are undeformed when the rods are horizontal. The mass of each rod is \(m\), with length \(L\), and mass moment of inertia about each center of gravity is \(I_{G}\).

(a) Find the static equilibrium position of the system using the principle of virtual work, and

(b) derive the equation of motion of the system using d'Alembert's principle.

Transcribed Image Text:

woood m. L. IG A k m. L. IG 8 ellee B Figure 5.28: Spring-constrained double pendulum.