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A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be dynamically varied. The string is assumed to have distributed mass and elasticity that permits axial deformations. The rigid body is attached to the string at an...
Common methods to model the motion of mechanical systems include minimal coordinates and redundant coordinates. Classical presentations of Lagrangian mechanics have focused on these coordinate descriptions. However, sometimes an alternative type of description using overparameterized coordinates is more suitable, in order to avoid coordinate singularities or to simplify the equations of motion. Examples...
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