Structure and Interpretation of Classical Mechanics

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Consider a pendulum of length attached to a support that is free to move horizontally, as shown in figure 1.4. Let the mass of the support be and the mass of the pendulum be . Formulate a Lagrangian and derive Lagrange’s equations for this system.

~~~

[guess]

(define ((F->C F) local)
  (->local (time local)
           (F local)
           (+ (((partial 0) F) local)
              (* (((partial 1) F) local) 
                 (velocity local)))))

;

(define ((q->r l y1) local)
  (let ((q (coordinate local)))
    (let ((x1 (ref q 0))
          (theta (ref q 1)))
      (let ((x2 (+ x1 (* l (sin theta))))
            (y2 (- y1 (* l (cos theta)))))
        (up x1 y1 x2 y2)))))

(show-expression
  ((q->r 'l 'y_1) 
     (up 't
         (up 'x_1 'theta)
         (up 'xdot_1 'thetadot))))

;
 
(define (KE m vx vy)
  (* 1/2 m (+ (square vx) (square vy))))

(define ((T-rect m1 m2) local)
  (let ((q (coordinate local))
        (v (velocity local)))
    (let ((x1dot (ref v 0))
          (y1dot (ref v 1))
          (x2dot (ref v 2))
          (y2dot (ref v 3)))
      (+ (KE m1 x1dot y1dot)
         (KE m2 x2dot y2dot)))))

(show-expression
 ((T-rect 'm_1 'm_2)
    (up 't
        (up 'x_1 'y_1 'x_2 'y_2)
        (up 'xdot_1 'ydot_1 'xdot_2 'ydot_2))))
 
;

(define ((U-rect g m1 m2) local)
   (let* ((q (coordinate local))
     (y1 (ref q 1))
     (y2 (ref q 3)))
     (* g (+ (* m1 y1)
             (* m2 y2)))))

(show-expression
 ((U-rect 'g 'm_1 'm_2)
    (up 't
        (up 'x_1 'y_1 'x_2 'y_2)
        (up 'xdot_1 'ydot_1 'xdot_2 'ydot_2))))

;

(define (L-rect g m1 m2)
  (- (T-rect m1 m2) (U-rect g m1 m2)))

(show-expression
 ((L-rect 'g 'm_1 'm_2)
    (up 't
        (up 'x_1 'y_1 'x_2 'y_2)
        (up 'xdot_1 'ydot_1 'xdot_2 'ydot_2))))

;

(define (L-l l y1 g m_1 m_2)
  (compose
   (L-rect g m_1 m_2) (F->C (q->r l y1))))

(show-expression
 ((L-l 'l 'y_1 'g 'm_1 'm_2)
  (->local 't
	   (up 'x_1 'theta)
	   (up 'xdot_1 'thetadot))))

; 

(show-expression
 (((Lagrange-equations
    (L-l 'l 'y_1 'g 'm_1 'm_2))
   (up
    (literal-function 'x_1)
    (literal-function 'theta)))
  't))

;

[guess]

— Me@2021-03-26 08:22:01 PM

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