Artifact eb6c0cbeba8a17265aba18781a258e8f76f604d223c88d3499e3b1a2813a96d1:


%% Parameter file for system twolink (twolink_params.r)
%% This file provides symbolic parameters for simplification

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Useful trig simplifications


        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
                  cos(~x)^2       => (1+cos(2*x))/2,
                  sin(~x)^2       => (1-cos(2*x))/2};
       LET trig1;

% Some simplifications -- see book
j := m*l*l/3;

END;


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