Here is the original function:
a4 = a2*cos(theta2)*cos(theta4) + a2*sin(theta2)*sin(theta4) - a1*cos(theta4)
a1, a2, & a4 are constants. I need to derive the funtion twice and solve for theta4-double-dot.
I caculated the derivative of this velocity equation by hand. Can someone check it for me using some math software?
0 = -a2*sin(theta2)*cos(theta4)*d(theta2)/dt - a2*cos(theta2)*sin(theta4)*d(theta4)/dt + a2*cos(theta2)*sin(theta4)*d(theta2)/dt + a2*sin(theta2)*cos(theta4)*d(theta4)/dt + a1*sin(theta4)*d(theta4)/dt
a1 and a2 are constants. I need to solve for d^2(theta4)/dt^2 (or the angular acceleration or theta4_double_dot).
Thanks!