Lagrangian for two masses hung by strings with rigid rod constraint

[bamftyk]

Homework Statement

two masses, m1 and m2, are hung from a point, P, by two string, L1 and L2, the masses are connected by a rod, length D, of negligible mass. The angle between the strings is theta, the angle between L2 and horizontal line through P is Phi. so essentially it looks like a hanger with a mass at both ends of it.

Homework Equations

The formula for the Lagrangian is simply L=T-U, where T and U are the Potential and Kinetic energy.
To find the energy I'm going to need velocity's which I think I can get by taking the Derivative of the position equations.

The Attempt at a Solution

I am going to use phi as my generalized coordinate, and if this were a simple pendulum I think this problem would be pretty easy, you take the derivative of your position equations to get velocity then use T=1/2MV^2 and U=mgh and then plug and chug. With this problem having two masses separated by a rigid rod I'm completely stumped on how to go about this. Any help at all is greatly appreciated.

 

[Shooting Star]

In the triangle, theta will remain constant. Draw the diagram. L1 and L2 are the lengths of the strings.

T = ½ I1w1^2 + ½ I2w2^2 = ½ m1*L1^2(dphi/dt) + ½ m2*L2^2(dphi/dt), since theta is a const.

V = -m1h1 – m2h2 = -mL1sin phi – mL2 sin (phi + theta).

Now you can set up L as phi as the only generalized co-ordinate.