A double pendulum consists of two simple pendula, with one pendulum suspended from the bob of the other. If the two pendula have equal length and have a bob of equal mass and if both pendula are confined to move in the same plane, Find Lagrange’s equations of motion for the system. Do not assume small angles

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A double pendulum consists of two simple pendula, with one pendulum suspended from
the bob of the other. If the two pendula have equal length and have a bob of equal mass and
if both pendula are confined to move in the same plane, Find Lagrange’s equations of motion
for the system. Do not assume small angles.

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