Obtain the equations of motion for the system shown in Fig. A.2. The bar is weightless.

Solution: The coordinates Xi and x2 can be taken as generalized coordinates. Take as the zero datum the configuration for which the bar is horizontal and the

spring is unstretched. Then

K = —it H--ii, P = W.vi - Wx2 + -/t (jc2 - xi )2 ,

= W-k(x 2-xi), -— = —W + k (x2 - xi). 3,\'i dX2

The Lagrange equations are

0 0

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