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## Homework Statement

A yoyo falls straight down unwinding as it goes, assume has inner radius a, outer radius b and Inertia I. What is the generalised coordinates and the lagrangian equation of motion?

## Homework Equations

L=T-U where T is kinetic energy and U is potential

## The Attempt at a Solution

So i assumed that there are 2 parts of kinetic energy, downwards and rotational, the downwards:

1/2 m Y(dot)^2

and rotational

1/2 I (Theta)(dot)^2 .

Potential is simply: mgy

This gives a lagrangian of L= 1/2 m Y(dot)^2 + 1/2 I (Theta)(dot)^2 - mgy

with general co-ords theta and Y, is this correct?