Double Pendulum Lagrange's Equation Problem

[Niner49er52]

Homework Statement

A double pendulum consists of two simple pendula, with one pendulum suspended from the bob of the other. If the two pendula have equal lengths and have bobs 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 no assume small angles.

Homework Equations

L=T-U
partial L/partial q-(d/dt)(partial L/partial q')+lambda(partial f/partial q)

The Attempt at a Solution

Main problem is finding an equation of constraint to use. I know the motion of the pendula must be dependant on each other since they are connected, but not sure how to correctly state that. Also, do I need to set things up piece by piece? Meaning, have an equation of motion for x1,x2,y1,and y2? Or should it be combined?

 

[gabbagabbahey]

Well, suppose that the upper pendulum hangs from the origin, and its bob has coordinates $(x_1(t),y_1(t))$ at time $t$...can you find an expression for the length of that pendulum as a function of $x_1(t)$ and $y_1(t)$?

How about the length of the second pendulum if its bob has coordinates $(x_2(t),y_2(t))$ at time $t$? (keep in mind that the second pendulum is not hanging from the origin )

That should give you two constraint equations.