
    gx                     H    d dl mZ d dlmZ d dlmZmZmZ d dlmZmZ d Z	dS )    )symbols)dynamicsymbols)ReferenceFramePointParticle)LagrangesMethod
Lagrangianc                     t          d          \  } }t          dd          \  }}t          d          \  }}}t          d          }t          d          }|                    d| |j        z            }	|	                    |||j        z             |                    d||j        z            }
|
                    |||j        z             t          d|	|          }|| dz  z  dz  |_        t          d	|
|          }|| |z
  dz  z  dz  |_        |	| |z  |j        z  f|
| |z  |j        z  fg}t          |||          }t          || |f||
          }|                                 |j        d         }|                    |          |k    sJ |j        d         }|                    |          |k    sJ d S )Nzq1, q2   zm, k, nuNOP1pP1   pP2)	forcelistframer   )r   r   r   r   	locatenewxset_velr   potential_energyr	   r   form_lagranges_equationseomdiff)q1q2q1dq2dmknur   r   r   P2r   r   r   lagl_methodeq1eq2s                     h/var/www/html/ai-engine/env/lib/python3.11/site-packages/sympy/physics/mechanics/tests/test_lagrange2.pytest_lagrange_2forcesr(   	   s    H%%FBh**HC z""HAq"sAc

A 
T28	$	$BJJq#)	
T28	$	$BJJq#)
5"a
 
 Cr1u9q=C
5"a
 
 CR!|+a/C dSj13&'dSj13&')I
QS
!
!CsRH	KKKH%%'''
,q/C88C==B
,q/C88C==B    N)
sympyr   sympy.physics.mechanicsr   r   r   r   r   r	   r(    r)   r'   <module>r-      sx          2 2 2 2 2 2 C C C C C C C C C C ? ? ? ? ? ? ? ?
% % % % %r)   