Deriving Equations of Motion for Compound Pendulum with 3 DOF

[msntito]

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).

 

[dextercioby]

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) ?

 

[msntito]

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).