A double pendulum consists of a pendulum of mass m2 hanging from a pendulum of mass m1. The motion of both parts of the double pendulum is constrained to the x-y plane. Both strings are "unstretchable" and having length I2 and I1, respectively.
a) How many degrees of freedom does this system have?
Using the variable theta1 and theta2 for the angles the strings make with the vertical, write expressions for
b) the kinetic energy
c) the potential energy
d) Write the equations of motion for the system in terms in theta1 and theta 2, and their time derivatives.
The solution determines the kinetic and potential energy.