Acceleration constraint equation 10lsinφ Icos2 01-1cosφ =一 Isingo2 001 Dynamic equations of the first kind m 0 0 m 0 22 三 -mg n-2 0 0 -1cosoo2 21 ml cos 9o2 > i= 护 -Isin2 九2 -mg mlsin o2 0 元3-mgl cos               0 sin cos 2 2          l l y x q                       cos sin cos 2 2 3 2 1 mgl mg ml ml   Dynamic equations of the first kind                                   0 0 sin cos 1 0 1 0 1 0 0 0 0 / 3 0 0 0 0 3 2 1 2 mg l l y x ml m m                               0 sin cos 0 0 1 0 1 cos 1 0 sin 2 2           l l y x l l Acceleration constraint equation