- #1

- 197

- 20

We've got a pendulum (1) with a weight mass m=1kg attached to a rod of length r=1m making an angle of θ with the vertical, and another identical pendulum (2) attached on the weight of pendulum (1), making an angle α with it. Transforming these coordinates to Cartesian ones, we get x(1)=sinθ, y(1)=cosθ and x(2)=sinθ+sin(α+θ) and y(2) = cosθ+cos(α+θ).

Ok. So far so good. Now I am supposed to compute the time derivatives of the Cartesian velocity components in terms of the angles to compute the kinetic energy. How exactly am I supposed to do that? Since there is no t in these, I can't directly find their time derivatives, unless I use the equations that describe the motions of pendulums that are already known, but aren't these wrong in the case of a double pendulum?

I know that the results I am supposed to get for the kinetic energies are these:

T

_{1}=(dθdt)^2/2

T

_{2}=((dθdt)^2+(dθdt+dαdt)^2)/2+(dθdt)*(dθdt+dαdt)*cosα

I just have no idea how to get them.