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( \theta ) (angle from vertical) Kinetic energy: ( T = \frac12 m (l\dot\theta)^2 ) Potential energy: ( U = -mgl \cos\theta ) (zero at bottom) Lagrangian: ( L = \frac12 m l^2 \dot\theta^2 + mgl \cos\theta )

If you can find a PDF matching the above, it will serve as an excellent companion to Goldstein, Taylor, or Landau.

Newtonian mechanics is about ; Lagrangian mechanics is about energy and constraints . Master the energy equations, and the math does the heavy lifting for you.

: Includes gravitational potential energy and elastic energy from springs. L=T−Vcap L equals cap T minus cap V Apply Euler-Lagrange Equations :