10sim4000 -2c0s4 21 01-cos4,00 2sin4 ,= y= 2 -10 sin 1 0 2 2c0s4- 2 2 0-1-2c0s401-2cos4 Solve &]图- m 0 m -mg ml2/12 M= Q1= 0 心 mg ml2/12 0 Rx=-,R,=-九2 For each time step,solve AX=B 4gx[[图- 头 丐 Let y=q= 3=9= 元2 y 乌 Differential equation: Initial condition y(0)] 4(0) ,0 (0) 1 2 1 2 1 1 cos 2 cos 0 1 2 0 1 sin 2 sin 1 0 2 1 0 cos 0 0 0 2 0 1 sin 0 0 0 2 1 0 l l l l l l q , 2 2 1 2 2 1 2 2 1 2 2 1 1 2 1 1 2 1 sin 2 sin 2 cos 2 cos 2 sin 2 cos 2 l l l l l l Solve T A M q Q q q 0 /12 /12 2 2 ml m m ml m m M , 0 0 0 0 mg mg A Q 1 1 1 2 , R x R y For each time step, solve A X B 1 2 , , T A q q M X q Q A X B X 0 Let 1 1 1 1 2 2 2 x y x y y q , 1 1 1 2 2 2 2 x y x y y q Differential equation: 1 2 2 1 X y y y Initial condition (0) (0) (0) (0) 2 1 q q y y