Three massless sticks each of length 2r, and mass 3with the center of mass at th

Question

Three massless sticks each of length 2r, and mass 3with the center of mass at the center of each stick,

are hinged at their ends as shown. The bottom end of the lower stick is hinged at the ground. They

are held so that the lower two sticks are vertical, and the upper one is tilted at a small angle e with

respect to the vertical. They are then released. At the instant of release what are the three equations

of motion derived from the Lagrangian derived assuming that e is small? Use these to determine the

initial angular accelerations of the three sticks.

This is exercise 6.28 in Morin's book (http://slowpoke.ddns.uark.edu/~julia/Mechanics3113/Morin_Lagrangians.pdf). Thanks

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