Reconsider the system consisting of three particles connected by pin joints with two rigid massless links indicated below with modifications (Example 1-4, Classical Dynamics, D. T. Greenwood, 1977). Particles only move vertically with small displacements. The interior particle mass is 3m while the exterior particles have mass m. Both links have a span of l. A rotational spring and damper described with parameters k and c are attached to the links. Applied forces F and F3, and applied moments M and M3, act on the system. Note gravity g is also acting on the system. X1 M m F e/2 kl 2,3m X2 - l/2 F3 T qi l M3 34 m X3 a) What are the generalized forces Q1, Q2, Q3 where Q = Q (F, F3, M, M3, 91, 92, 93, 91, 92, 93) for i= 1,2,3? b) What is the kinetic energy T = T(91, 92, 93) ? c) What is the potential energy V = V(91,92,93) ? g d) What are the equations of motion developed from Lagrange's equations ? Use form d OT dt oqi = Q.