CreatedBy='Mathematica 5.0' Mathematica-Compatible Notebook This notebook can be used with any Mathematica-compatible application, such as Mathematica, MathReader or Publicon. The data for the notebook starts with the line containing stars above. To get the notebook into a Mathematica-compatible application, do one of the following: * Save the data starting with the line of stars above into a file with a name ending in .nb, then open the file inside the application; * Copy the data starting with the line of stars above to the clipboard, then use the Paste menu command inside the application. Data for notebooks contains only printable 7-bit ASCII and can be sent directly in email or through ftp in text mode. Newlines can be CR, LF or CRLF (Unix, Macintosh or MS-DOS style). 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For more information on notebooks and Mathematica-compatible applications, contact Wolfram Research: web: http://www.wolfram.com email: info@wolfram.com phone: +1-217-398-0700 (U.S.) Notebook reader applications are available free of charge from Wolfram Research. *******************************************************************) (*CacheID: 232*) (*NotebookFileLineBreakTest NotebookFileLineBreakTest*) (*NotebookOptionsPosition[ 199554, 4448]*) (*NotebookOutlinePosition[ 200216, 4471]*) (* CellTagsIndexPosition[ 200172, 4467]*) Notebook[{ Cell[CellGroupData[{ Cell[BoxData[ (th1d = D[[Theta]_1[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_1), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th2d = D[[Theta]_2[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_2), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th3d = D[[Theta]_3[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_3), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th4d = D[[Theta]_4[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_4), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th5d = D[[Theta]_5[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_5), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th6d = D[[Theta]_6[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_6), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th7d = D[[Theta]_7[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_7), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (th8d = D[[Theta]_8[t], t])], Input], Cell[BoxData[ RowBox[{ SuperscriptBox[([Theta]_8), [Prime], }, Open ]], Cell[CellGroupData[{ Cell[BoxData[ (T 1/2 *J_c* th1d^2 + 1/2*((J_1 + J_2))* th2d^2 + M_1* a_3^2* th2d^2 + 1/2* ((J_4 + J_v))* th4d^2 + 1/2* J_3* th3d^2 + 1/2* J_sm* ((th5d^2 + th6d^2)) + M_2* a_7^2* th3d^2 + 1/2*M_2*((((th7d/2))^2 + ((th8d/2))^2)) + 1/2*M_2*(((((a_9 + [Theta]_7[t])/2))^2* th5d^2 + (((a_9 + [Theta]_8[t])/2))^2*th6d^2)) + 1/2*(M_2) ((a_7*((((a_9 + [Theta]_7[t]))*th3d*th5d* Sin[[Theta]_5[t] - [Theta]_3[ t]] - ((a_9 + [Theta]_8[t]))*th3d*th6d* Sin[[Theta]_6[t] - [Theta]_3[t]])))) + 1/2*M_2*((a_7* th3d ((th8d*Cos[[Theta]_6[t] - [Theta]_3[t]] - th7d*Cos[[Theta]_5[t] - [Theta]_3[t]])))))], Input], Cell[BoxData[ RowBox[{ RowBox[{(1/2), , (J_c), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_1), [Prime], RowBox[{(1/2), , ((J_1 + J_2)), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_2), [Prime], RowBox[{(a_3%2), , (M_1), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_2), [Prime], RowBox[{(1/2), , (J_3), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{(a_7%2), , (M_2), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{(1/2), , ((J_4 + J_v)), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_4), [Prime], RowBox[{(1/2), , (a_7), , (M_2), , RowBox[{(, RowBox[{ RowBox[{(-Sin[[Theta]_3[t] - [Theta]_5[t]]), , ((a_9 + [Theta]_7[t])), , RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{ SuperscriptBox[([Theta]_5), [Prime], RowBox[{(Sin[[Theta]_3[t] - 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V)], Input], Cell[BoxData[ RowBox[{((-(1/2)) K (([Theta]_7[t]^2 + [Theta]_8[t]^2))), +, RowBox[{(1/2), , (J_c), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_1), [Prime], RowBox[{(1/2), , ((J_1 + J_2)), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_2), [Prime], RowBox[{(a_3%2), , (M_1), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_2), [Prime], RowBox[{(1/2), , (J_3), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{(a_7%2), , (M_2), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{(1/2), , ((J_4 + J_v)), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_4), [Prime], RowBox[{(1/2), , (a_7), , (M_2), , RowBox[{(, RowBox[{ RowBox[{(-Sin[[Theta]_3[t] - [Theta]_5[t]]), , ((a_9 + [Theta]_7[t])), , RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{ SuperscriptBox[([Theta]_5), [Prime], RowBox[{(Sin[[Theta]_3[t] - [Theta]_6[t]]), , ((a_9 + [Theta]_8[t])), , RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{ SuperscriptBox[([Theta]_6), [Prime], )}]}], +, RowBox[{(1/2), , (J_sm), , RowBox[{(, RowBox[{ SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_5), [Prime], SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_6), [Prime], )}]}], +, RowBox[{(1/2), , (M_2), , RowBox[{(, RowBox[{ RowBox[{(1/4), , (((a_9 + [Theta]_7[t]))^2), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_5), [Prime], +, RowBox[{(1/4), , (((a_9 + [Theta]_8[t]))^2), , SuperscriptBox[ RowBox[{ SuperscriptBox[([Theta]_6), [Prime], 2]}]}], )}]}], +, RowBox[{(1/2), , (a_7), , (M_2), , RowBox[{ SuperscriptBox[([Theta]_3), [Prime], RowBox[{(, RowBox[{ RowBox[{(-Cos[[Theta]_3[t] - 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