For a double pendulum: a Draw and label the pendulums. Label the co-ordinates and the position of the two masses. Indicate the generalized co-ordinates. b Write down the x-y co-ordinates of the two masses in terms of the length and the angle of the two masses. Write down the velocities. C Write down the kinetic energy and the potential energy. Convert the kinetic energy and the potential energy into the orientation angle. d Use the Euler-Lagrange method to derive the equations of motion.