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Didn't get this equation which is written for the pendulum part of the cart.
Must be easy but couldn't get it.
AlephZero said:It is just "force = mass x acceleration" in the x direction, for the center of mass of the rod. (The length of rod isn't shown on your diagram, but if the equation is correct it is 2l, not l).
The ##\ddot\theta## term is from the tangential acceleration of the rod.
The ##\dot\theta^2## term is the from the radial (centripetal) accleration.