| cg |
= |
Center of gravity |
| p |
= |
Pivot point |
| | |
 |
= |
X coorordinate of center of gravity |
| | |
 |
= |
First derivative of
|
| | |
 |
= |
Second derivative of
|
| | |
 |
= |
Y coorordinate of center of gravity |
| | |
 |
= |
First derivative of
|
| | |
 |
= |
Second derivative of
|
| | |
 |
= |
X coordinate of pivot point. |
| | Note positive
is toward right. |
| | |
 |
= |
First derivative of
|
| | |
 |
= |
Second derivative of
|
| | |
 |
= |
Y coordinate of pivot point. |
| | |
 |
= |
First derivative of
|
| | |
 |
= |
Second derivative of
|
| H |
= |
Force in Horizontal direction. |
| V |
= |
Force in Vertical direction. |
 |
= |
1/2 length of pendulum |
| m |
= |
mass of pendulum |
 |
= |
Angle of pendulum measured from vertical. |
| | Note positive
is taken as clockwise. |
 |
= |
Viscous damping constant. |
| I |
= |
moment of inertia for pendulum (
for uniform rod)
|
