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Consider the manipulator given in below. Assume link 1 and link 2 are massless, and mass M is concentrated at the end of link

Consider the manipulator given in below. Assume link 1 and link 2 are massless, and mass M is concentrated at the end of link 2, l1= 2*l2. Write the Lagrangian equations using generalized coordinates 01 and 02. 4 02 M

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