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3d pendulum

  1. Jan 5, 2010 #1
    Can anyone help?
    I have to derive eq of motion of a compound pendulum with 3 rotational dof.
    I know how to do it, for simple pendulum (using Lagrangian's).
  2. jcsd
  3. Jan 5, 2010 #2


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    Is it literally a 3d (or conical) pendulum, or a 2d (plane) pendulum made of 3 rods, each with tied to the other by a junction point (thus with 3 degrees of freedom) ?
  4. Jan 6, 2010 #3
    It is a single body (irregular shape with an Inertia tensor 3x3), fixed at a point, say O and can move in 3d rectangular coord system (3 rotational DOF...say alpha beta gamma).
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