a. Derived expressions for this using kinematics: generate an equation of motion using Lagrange’s equations which could then be numerically solved in MATLAB using its ODE solvers.
b. The problem however may be solved analytically in any other method appropriate: Using a vector approach with FBD’s to limited success. It does not need to be incredibly accurate hence ignoring friction ect.
c. We have dimensions and properties of the three components including masses and moments of inertia about pivots and the positions of centers of mass.
After part 1 of the model.