I'm working on determining the differential equations governing two linked bars that rotate around a fixed pivot (located at the end of one of the bars). Something like a double pendulum but rotating in the horizontal plane so gravity is not an issue. There are applied external forces at the end of each bar (2 bars = 2 forces). I tried working my way through using examples of a double pendulum I had found online, but the solution I get does not give intuitive results when simulated in matlab. Any help or link to a helpful site would be greatly appreciated. Thanks again!