This application simulates the dynamics of pendulums coupled by a rod.

Buttons:

• Restarts the simulation.
• Accesses other initial conditions and system parameters.

This simulation works based on the Lagrangian

$ \mathcal{L} = \dfrac{1}{2}( m+m_1+m_2 )L_1^2 \dot{\theta}^2 + \dfrac{1}{2}m_1 L_2^2 \dot{\theta}_1^2 + $ $ + m_1 L_1 L_2 \dot{\theta} \dot{\theta}_1 \cos (\theta - \theta_1) + $ $ + \dfrac{1}{2}m_2 L_2^2 \dot{\theta}_2^2 + m_2 L_1 L_2 \dot{\theta} \dot{\theta}_2 \cos (\theta - \theta_2) + $ $ + ( m + m_1 + m_2 ) g L_1 \cos \theta + m_1 g L_2 \cos \theta_1 + $ $ + m_2 g L_2 \cos \theta_2 $

The equations of motion are solved by the fourth order Runge-Kutta method.

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