Module Expr Str ImportFrom alias ImportFrom alias alias alias alias ImportFrom alias alias ImportFrom alias ImportFrom alias alias alias Assign NameStore Call NameLoad Str Assign NameStore Call NameLoad Str keyword Num Assign NameStore Call NameLoad Str Assign TupleStore NameStore NameStore NameStore NameStore Call NameLoad Str Print Str Assign NameStore Call NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad NameLoad AttributeLoad NameLoad attr Assign NameStore NameLoad Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad UnaryOpUSub NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str Str ListLoad NameLoad AttributeLoad NameLoad attr Assign NameStore Call NameLoad Str Assign NameStore Call AttributeLoad NameLoad attr Str BinOpMult UnaryOpUSub NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str BinOpMult UnaryOpUSub NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad NameLoad attr Str BinOpMult BinOpDiv Num Call NameLoad Num BinOpAdd Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad Num For NameStore ListLoad NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore ListLoad BinOpSub NameLoad NameLoad Assign NameStore Call NameLoad NameLoad ListLoad NameLoad Assign NameStore ListLoad TupleLoad NameLoad BinOpMult BinOpMult UnaryOpUSub NameLoad NameLoad AttributeLoad NameLoad attr Assign NameStore ListLoad FunctionDef arguments args NameParam NameParam defaults body Print Str Assign NameStore Call NameLoad SubscriptLoad Call NameLoad BinOpAdd NameLoad NameLoad Index Num NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore Call NameLoad NameLoad BinOpAdd NameLoad NameLoad For TupleStore NameStore NameStore Call NameLoad NameLoad Num body Print Call AttributeLoad Str attr NameLoad Call NameLoad Call NameLoad NameLoad decorator_list Expr Call NameLoad NameLoad ListLoad NameLoad Print Str Assign TupleStore NameStore NameStore NameStore Call NameLoad Str AugAssignAdd NameStore ListLoad TupleLoad NameLoad BinOpMult BinOpMult UnaryOpUSub NameLoad NameLoad AttributeLoad NameLoad attr TupleLoad NameLoad BinOpMult BinOpMult UnaryOpUSub NameLoad NameLoad AttributeLoad NameLoad attr Expr Call NameLoad NameLoad ListLoad NameLoad Print Str Assign TupleStore NameStore NameStore Call NameLoad Str Assign TupleStore NameStore NameStore Call NameLoad Str For NameStore ListLoad NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad Num Expr Call AttributeLoad NameLoad attr NameLoad BinOpAdd BinOpMult NameLoad AttributeLoad NameLoad attr BinOpMult NameLoad AttributeLoad NameLoad attr For NameStore ListLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad For NameStore ListLoad NameLoad NameLoad NameLoad body Expr Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad AugAssignAdd NameStore ListLoad TupleLoad NameLoad BinOpMult NameLoad AttributeLoad NameLoad attr TupleLoad NameLoad BinOpMult NameLoad AttributeLoad NameLoad attr Expr Call NameLoad NameLoad ListLoad NameLoad NameLoad NameLoad
N/A N/A Exercise 8.9 from Kane 1985. __future__ division sympy solve trigsimp symbols S sympy.physics.mechanics ReferenceFrame Point sympy.physics.mechanics dynamicsymbols util msprint partial_velocities generalized_active_forces N/A q1 N/A dynamicsymbols q1 N/A q1d N/A dynamicsymbols q1 level 1 N/A u1 N/A dynamicsymbols u1 N/A N/A g m r theta N/A symbols g m r theta N/A part a N/A N N/A ReferenceFrame N N/A C N/A N/A N orientnew C Axis N/A q1 N/A N x N/A R C N/A A N/A N/A C orientnew A Axis N/A N/A theta N/A R x N/A B N/A N/A C orientnew B Axis N/A theta N/A R x N/A pO N/A Point O N/A pA N/A N/A pO locatenew A N/A N/A r N/A A z N/A pB N/A N/A pO locatenew B N/A N/A r N/A B z N/A pR_star N/A N/A pO locatenew R* N/A N/A 1 N/A S 2 N/A N/A N/A pA pos_from pO N/A N/A pB pos_from pO N/A N/A N/A pO set_vel N 0 N/A N/A N/A pO set_vel C 0 N/A p N/A pA pB pR_star N/A N/A N/A N/A p set_vel C 0 N/A N/A N/A p v1pt_theory pO N C N/A kde N/A N/A u1 q1d N/A kde_map N/A solve kde N/A q1d N/A forces N/A N/A pR_star N/A N/A N/A m g N/A N z N/A torques N/A print_fr N/A N/A forces ulist N/A N/A N/A Generalized active forces: N/A partials N/A partial_velocities N/A N/A zip N/A forces torques N/A 0 ulist N kde_map N/A N/A Fr _ N/A generalized_active_forces partials N/A forces torques N/A N/A i f N/A enumerate Fr 1 N/A N/A N/A N/A F{0} = {1} format i N/A msprint N/A trigsimp f N/A N/A N/A print_fr forces N/A u1 N/A 
part b N/A N/A s TA TB N/A symbols s TA TB N/A forces N/A N/A pA N/A N/A N/A s TA N/A A y N/A pB N/A N/A N/A s TB N/A B y N/A N/A print_fr forces N/A u1 N/A 
part c N/A N/A u2 u3 N/A dynamicsymbols u2 u3 N/A N/A NA NB N/A symbols NA NB N/A p N/A pA pB pR_star N/A N/A N/A N/A p set_vel R 0 N/A N/A N/A pR_star set_vel C N/A N/A u2 N/A C y N/A u3 N/A C z N/A p N/A pA pB N/A N/A N/A N/A p v1pt_theory pR_star C R N/A p N/A pA pB pR_star N/A N/A N/A N/A p v1pt_theory pO N C N/A forces N/A N/A pA N/A NA N/A A z N/A pB N/A NB N/A B z N/A N/A print_fr forces N/A u1 u2 u3