Calculating Equations of Impact for a Chain of Links | Homework Help"

[J1986]

Homework Statement

Hello!

I have a problem to calculate the equations of impact (not elastic) of a chain of links.
The goal is to have joint velocities of the links after impact.

I know how to do this without a dependent variabele, see my attempt in
http://student.vub.ac.be/~jdhoker/Equations_of_impact.pdf

But I have no idea how to incorporate the dependent unknown. Any ideas are welcome!

Homework Equations

All info and relevant equations are also in the file because I'm not familiar with Latex.

The Attempt at a Solution

The attempt is also in the pdf.

Thanks!
J

 

[J1986]

Can this be a solution? But I'm very unsure about it...

I've tried to describe that the joint velocities variation is dependent on multiple links.

[PLAIN]http://student.vub.ac.be/~jdhoker/solution.jpg

Please help :-) !