PX155 - E15 - the compound pendulum

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τ=−Mgdsin⁡θτ=Ipθ¨ −Mgdsin⁡θ=Ipθ¨IP=Icm+Md2 −Mgdθ≈(Icm+Md2)θ¨θ¨≈−MgdIcm+Md2θ

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