83 lines
1.5 KiB
Plaintext
83 lines
1.5 KiB
Plaintext
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"import sympy as sm\n",
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"import sympy.physics.mechanics as me\n",
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"me.init_vprinting()"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"theta, beta, alpha, l = me.dynamicsymbols('theta, beta, alpha, l')\n",
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"A, B, C, D = sm.symbols('A, B, C, D', cls=me.ReferenceFrame)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"B.orient_axis(A, theta, A.z)\n",
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"C.orient_axis(B, beta, -B.x)\n",
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"D.orient_axis(C, alpha, C.z)\n",
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"B.dcm(A)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"r = l *D.x\n",
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"r"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3 (ipykernel)",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.12.4"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 4
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}
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