
    sh/                        S SK Js  Jr  S SKrS SKrS SKr	\R                  " S5      u  rrrr\R                  " SS5      u  rrrr\R&                  " SSS9u  rrr\R,                  " S5      r\R,                  " S	5      r\R,                  " S
5      r\R5                  \S\\R6                  /5        \R5                  \S\\R6                  /5        \R9                  \\\R6                  -  5        \R9                  \\\R6                  -  5        \R:                  " S5      r\R>                  " S\R:                  " S5      \R@                  " S5      5      r!\R>                  " S\R:                  " S5      \R@                  " S5      5      r"\!RF                  RI                  \\\RJ                  -  5        \"RF                  RI                  \!RF                  \\RJ                  -  5        \RM                  \S 5        \!RF                  RO                  \\\5        \"RF                  RO                  \!RF                  \\5        \\!l(        \\"l(        \!RP                  \\RJ                  -  -  r)\"RP                  \\RJ                  -  -  r*\\-
  \\-
  /r+\!RF                  \!RP                  \\RJ                  -  -  4\"RF                  \"RP                  \\RJ                  -  -  4/r,\RZ                  " \\\/\\/\+S9r.\.R_                  \!\"/\,5      u  r0r1\0\1-   r2S SK3J4r4  \4" \.\S\S\S00 \S\S\S \S 0\	Rj                  " SSS5      S9r6\6Ro                  5       r8g)    Nzq1 q2 u1 u2zq1_ q2_ u1_ u2_   zl m gT)realnabAxisopp_ptmrr_pt)q_indu_indkd_eqs)SystemgQ#@g?g?g        
   g     @@)	constants
specifiedsinitial_conditionstimes)9sympy.physics.mechanicsphysics	mechanics_mesympy_smmathr   numpy_npdynamicsymbolsq1q2u1u2q1_dq2_du1_du2_dsymbolslgReferenceFrameframe_nframe_aframe_borientzset_ang_velPointpoint_oParticleSymbol
particle_p
particle_rpointset_posxset_velv2pt_theorymassforce_pforce_rr   	forceListKanesMethodkanekanes_equationsfrfrstarzeropydy.systemr   linspacesys	integratey     ڙ/Users/tiagomarins/Projetos/claudeai/copy_bank/venv/lib/python3.13/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/double_pendulum.py<module>rQ      s   % %   ##M2BB++,=qA dD$
++gD
)1a


S
!


S
!


S
! wWYY 0 wWYY 0   GR		\ *   GR		\ *
))C.\\#syy0#**S/B
\\#syy0#**S/B
 
    !GII+ . 
    ))1WYY; 7   
    WWW 5 
    Z--gg >


//1WYY;
'
//1WYY;
'
)TBY	z'))<=
@P@PQ[Q`Q`bcdkdmdmbmQn?op	
wr"gb"XO!!:z":IF
F	&y T!Qq!D1r2b"Q1-S"f%'
 --/rO   