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# dyn2 - φ and ψ • Find the constraint forces • Is the...

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2.032 DYNAMICS Fall 2004 Problem Set No. 2 Out: Wednesday, September 22, 2004 Due: Wednesday, September 29, 2004 at the beginning of class Problem 1 Show that for any 3 × 3 skew-symmetric matrix A , there exists a 3-dimensional vector ω such that for any three-dimensional vector x , Ax = ω × x . Problem 2 Consider the coupled pendula shown in the figure below. Both rods are massless, with point masses m attached to their ends. Both joints shown in the figure are frictionless. The external force F encloses a fixed angle γ with the line of the pendulum shown. The masses never collide. The constant of gravity is g. Questions: Identify the constraints. Determine the number of degrees of freedom. Find the equations of motion for

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