Classical Dynamics of Particles and Systems · Problem 7-7
Central-Force Motion — Marion & Thornton
Physics — Mechanics · lagrangian-double-pendulum
Problem
A double pendulum consists of two simple pendula, with one pendulum suspended from the bob of the other. If the two pendula have equal lengths and have bobs of equal mass and if both pendula are confined to move in the same plane, find Lagrange's equations of motion for the system. Do not assume small angles.