Determining the dynamics of the double pendulum

This project involes determining the dynamics of the double pendulum with a sliding
base (see figure above). Each link is assumed to be of square cross section.
The objective is to determine the angles ?1 and ?2 over the time period of t = 0 s to t = 4 s.
Let the base motion be prescribed as x(t) = (1/8)*sin(4.4t). Based on the Newton’s second
law, the equations of motion (for the angular acceleration of each link) are given by

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