The period of oscillation for the physical pendulum will then be given by: 1 T = 211 mgh Note: - when calculating the momentum of inertia of a rigid body a useful relationship is the parallel – axis theorem: 1 = Icm + mh? parallel to OC.Thatis,fis the control input that acts directly on the mass m. In order to describe the pendulum motion, the origin of the inertial frame is chosen at point O.Thex-axis and y-axis are set in the horizontal and vertical directions, respectively. Let the generalized coordinates be denoted by a two-dimensional vector q: r,θ T where r

The axis of rotation, the axle of the physical pendulum is parallel to the axis of rotation, the axle of the lever. The axle bed of the lever is connected to the surface with girders. The axle of the physical pendulum is oscillating up and down, when the pendulum is out of balance.

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