2 thoughts on “5.30”

    1. Right you are! That term should include mass: -2rdm\sin(\theta)\dot\theta^2

      Also, the final answer should include the mass as well:

      0 = \left(I_G + m r^2 + md^2 - 2rdm\sin(\theta)\right)\ddot\theta -2rdm\cos(\theta)\dot\theta^2 -md\cos(\theta)

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Tutoring for Statics, Dynamics, and Controls courses at Texas A&M