Using the results of Problem 9.2, consider the compound crane illustrated in Figure 9.29. A compound pendulum is attached to mass M at point Q. Mass M = 2 kg slides horizontally without friction. The distance between Q and G is 0.25 m.
a. Find the equations of motion in x and θ.
b. Integrate the equations of motion in matlab, and create a matlab file that animates the solution.
Find the moment of inertia IG of the planar rigid body in Figure 9.26. The rigid body has uniform density, with m = 2 kg, w = 0.3 m, and h = 0.6 m