Example 6.7 X Single pendulum is shown in the figure.The length of the pendulum is 21,and the mass of the pendulum is m.The pendulum is applied with gravitational force.The kinematic driver is given by ΦD=-3π/2-2t=0 1.Write the acceleration constraint equation X 2.Write the Lagrange equation of the first kind 3.Write the mixed algebraic-differential equation 4.Find the Lagrange multipliers 5.Give a physical interpretation of each Lagrange multiplierExample 6.7   3 / 2  2 t  0 D     x1 y1 C x y  g Single pendulum is shown in the figure. The length of the pendulum is 2l, and the mass of the pendulum is m. The pendulum is applied with gravitational force. The kinematic driver is given by 2. Write the Lagrange equation of the first kind 1. Write the acceleration constraint equation 3. Write the mixed algebraic-differential equation 5. Give a physical interpretation of each Lagrange multiplier 4. Find the Lagrange multipliers