HAMILTONS PRINCIPLELAGRANGIAN AND HAMILTONIAN DYNAMICS 231

L d L d 2 1 d2 x d 2 2
= 2 g sin 1 = 2b + 2 cos + b cos( 1 2 )
1 dt 1
1
dt 2 dt 2 dt 2

d
2

+ b 2 sin( 1 2 )
dt
L d L
=
2 dt 2

d 2 2 d 2 x d 2 1 d
2

g sin 2 = b + cos + b cos ( 1 2 ) b 1 sin ( 1 2 )

dt 2
dt 2 2
dt 2
dt

7-41. For small angle of oscillation we have

1 2 d
2 2
1 db
T= mb + m and U = mgb cos
2 dt 2 dt
So the Lagrangian reads

1 2 d
2 2
1 db
L = T U = mb + m + mgb cos
2 dt 2 dt
from which follow 2 equations of motion

L d L d d
2
d2b
= b + g cos = 2 =
b dt b dt dt dt

L d L db d d 2 d d 2
= mgb sin = 2mb + mb 2 2 = 2mb + mb 2 2
dt dt dt dt dt dt