Unformatted text preview: em will always have an equilibrium state of θ10 = θ 20 = 0 . Using your
expressions for T and U above, write down the mass and stiffness matrices for the
system corresponding to this equilibrium state.
c) Verify that the mass matrix is positive definite. Also, determine the smallest value
of the parameter α = K / mgL for which the stiffness matrix is positive definite.
Describe in words what you expect the eigenvalues for the system to be for α less
than the value found here. You need not actually solve for the eigenvalues.
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This document was uploaded on 12/23/2011.
- Fall '09