4. Three particles are connected by two rigid massless rods, each of length /, which are hinged at point B. The system can slide on a smooth horizontal plane. The configuration of the system is given by the Cartesian coordinates (x, y) of the center of mass and the angles 8 and , as shown. Find: (i) Use Lagrange's equations to derive the equations of motion of the system when the center of mass is stationary; (ii) Let y 0(0)=n/2, 6(0)=-1rad/sec, (0)=1rad/sec. Also, assume that x(0)=0, y(0)=0. Whatis the ensuing motion, and the minimum value of 0 during this motion? Use Conservation of Angular Momentum about the Center of Mass, and the Conservation of Energy for the system