Hello! I'd like to ask for help with one problem :) thank you in advance. 1. Write the equations for kinetic and potential energy for the pendulum with rectangular prism of size a*b*c (width, length, depth). With the Lagrange's equation get the equation of motion. The block is homogeneous with mass m. We also have a torsion spring with coefficient k. J is a moment of inertia. Angle is q (or phi if you prefer). So it is a theoretical task. The bold characters are supposed to be known as seen on the sketch. 2. Am I right with this? Wp (potencial energy) = m * g * b/2 * (cos(q) - 1) Wk (kinetic energy) = 1/2 * J * ω^2 ω = dot(q) J = 1/12 * m * (a^2 + b^2) + m * (b/2)^2 Where do I include the spring?