Consider the mechanical system shown in Figure 5.128, in which a uniform rod of mass (m) and

Question:

Consider the mechanical system shown in Figure 5.128, in which a uniform rod of mass $m$ and length $L$ is attached to a massless rigid link of equal length. Assume that the system is constrained to move in a vertical plane. Denote the angular displacement of the link as $\theta_{1}$ and the angular displacement of the rod as $\theta_{2}$. Derive the equations of motion for small angles by using

(a) the force/moment approach and

(b) the energy approach.

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