
    Qi/                        d dl mc mZ d dlZd dlZd dlZ	 ej
        d          \  ZZZZ ej
        dd          \  ZZZZ ej        dd          \  ZZZ ej        d          Z ej        d	          Z ej        d
          Ze                    edeej        g           e                    edeej        g           e                    eeej        z             e                    eeej        z              ej        d          Z ej        d ej        d           ej         d                    Z! ej        d ej        d           ej         d                    Z"e!j#        $                    eeej%        z             e"j#        $                    e!j#        eej%        z             e&                    ed            e!j#        '                    eee           e"j#        '                    e!j#        ee           ee!_(        ee"_(        e!j(        eej%        z  z  Z)e"j(        eej%        z  z  Z*eez
  eez
  gZ+e!j#        e!j(        eej%        z  z  fe"j#        e"j(        eej%        z  z  fgZ, ej-        eeegeege+          Z.e./                    e!e"ge,          \  Z0Z1e0e1z   Z2d dl3m4Z4  e4e.edededii ededed ed i e	j5        ddd                    Z6e67                                Z8dS )    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     /var/www/development/aibuddy-work/election-extract/venv/lib/python3.11/site-packages/sympy/parsing/autolev/test-examples/pydy-example-repo/double_pendulum.py<module>rQ      sn   % % % % % % % % %            ##M22BB++,=qAA dD$
#+gD
)
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)1a
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S
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!
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#)C..S\#ysy00*#*S//BB
S\#ysy00*#*S//BB
 
   !GI+ . . . 
   )1WY; 7 7 7     
   WWW 5 5 5 
   Z-gg > > >


/1WY;
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)TBY	z')<=
@PQ[Q`bcdkdmbmQn?op	swr"gb"XOOO!!:z":IFF
F	&y      fT!Qq!D1r2b"Q1-S"f%%' ' '
 --//rO   