The figure to the right shows a plate B connected by a revolute joint to
a rod A so B can rotate freely about A's long axis.
Rod A is connected by a second revolute joint to a fixed support N
(the revolute joints' axes are perpendicular not parallel).
Problem description (.pdf)
 Generates exact nonlinear symbolic equations of motion
 Forms mechanical energy whose variation during numerical integration tracks integrator accuracy
 Creates simulation results
(graphed and saved with MotionGenesis plotting software  shown below)
 Or, append .m, .c, or .f extension to the ODE() filename to produce the codes shown below.


