https://www.nestedtori.com/2015/08/the-euler-lagrange-equations-for-double.html
Nested Tori: The Euler-Lagrange equations for the Double Pendulum (Config Spaces, Part 3)
In this post, continuing the explorations of the double pendulum (see Part 1 and Part 2 ) we concentrate on deriving its equation of motion...
euler lagrange equationsdouble pendulumnestedtoriconfig