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Homework Statement
See attached figure. Derive the equation of motion for the following in the parameter [tex]\theta[/tex]
Homework Equations
The Attempt at a Solution
The only part thats giving me trouble is the uppermost massive bar connecting the spring to the mass. I am trying to write down its kinetic energy. I know this can be decomposed as
[tex]
T = \frac{1}{2}m\bar{v}^2 + \frac{1}{2}I_{CM}\omega^2
[/tex]
where vbar is the center of mass velocity and omega is the angular velocity of the body about its CM. I can get the first term, but I can't begin to figure out how to get Omega in the second term. I thought about considering a small change in the position of the mass, as this of course gives rise to a rotation of this bar, but the CM moves during this and it throws me off. Suggestions on how to get Omega, or on an alternative approach would be appreciated.
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