27 lines
504 B
Python
27 lines
504 B
Python
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import sympy as sm
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import sympy.physics.mechanics as me
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me.init_vprinting(use_latex='mathjax')
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l = sm.symbols('l')
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q1, q2, u1, u2 = me.dynamicsymbols('q1, q2, u1, u2')
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N = me.ReferenceFrame('N')
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A = me.ReferenceFrame('A')
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B = me.ReferenceFrame('B')
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A.orient_axis(N, q1, N.z)
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B.orient_axis(N, q2, N.z)
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O = me.Point('O')
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P1 = me.Point('P1')
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P2 = me.Point('P2')
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O.set_vel(N, 0)
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P1.set_pos(O, -l*A.y)
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P2.set_pos(P1, -l*B.y)
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P1.v2pt_theory(O, N, A)
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P2.v2pt_theory(P1, N, B)
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print(P1.vel(N).express(N))
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