Equations of Motion for a Translating Compound Pendulum
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چکیده
In this note we will derive the equations of motion for a compound pendulum being driven by external motion at the center of rotation. A compound pendulum is a pendulum consisting of a single rigid body rotating around a fixed axis. In contrast to the simple pendulum we studied in class, a compound pendulum can have an arbitrary distribution of mass, which means that it better models real-world objects. In the context of our animation tool, it means that the shape and size of each joint will have an effect on the dynamics of our character. The fact that the pendulum is moving means that we can have pendulums hanging from our character (e.g., feathers, scales, or other gadgets).
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