- #1
aerograce
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Homework Statement
Hi guys! I am reading a paper on inverted pendulum. However, I can't understand the dynamics equations of this inverted pendulum. You may look at the images below. Basically the thruster is placed at top plate, while the middle plate is a base plate where pivot is placed. And then bottom plate is where you place your counterweight. Upon thruster firing, the pendulum arm will rotate.
The equations are attached in the pictures below. I(T) and I(CW) represent the moments of inertia of the thruster and counterweight respectively.
My question is, can anyone help me explain these equations? I understand that the left side is the net force on horizontal direction based on Newton's second law, and the left side has the thrust caused by pivots stiffness, weight and thrust. However, I don't understand where the momentum of inertia * angular acceleration / arm length comes in.
Homework Equations
Relevant equations for this question will be Newton's second law, and also rotational dynamics.
The Attempt at a Solution
My attempt at understanding the equations are stated in the question part.
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