Unformatted text preview: the lecture notes for a brief discussion of
rotational springs if you are unfamiliar with rotational springs.) The rotational springs are
unstretched when θ1 = θ 2 = 0 . Note that this system could represent a discrete model for
the transverse vibrations of a vertical flexible column.
a) Write down expressions for the kinetic energy T and potential energy U of the
system in terms of the generalized coordinates θ1 and θ 2 . Be sure to include the
gravitational potential when writing down U.
b) The syst...
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