
    \hz                     F    S SK Jr  S SKJr  S SKJrJrJr  S SKJrJr  S r	g)    )symbols)dynamicsymbols)ReferenceFramePointParticle)LagrangesMethod
Lagrangianc                     [        S5      u  p[        SS5      u  p#[        S5      u  pEn[        S5      n[        S5      nUR	                  SXR
                  -  5      n	U	R                  XrUR
                  -  5        UR	                  SXR
                  -  5      n
U
R                  XsUR
                  -  5        [        SX5      nXPS-  -  S-  Ul        [        S	X5      nXPU-
  S-  -  S-  Ul        X* U-  UR
                  -  4X* U-  UR
                  -  4/n[        X{U5      n[        XU4XS
9nUR                  5         UR                  S   nUR                  U5      U:X  d   eUR                  S   nUR                  U5      U:X  d   eg )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                     d/var/www/auris/envauris/lib/python3.13/site-packages/sympy/physics/mechanics/tests/test_lagrange2.pytest_lagrange_2forcesr(   	   sz    H%FBh*HC z"HA"sAc
A 
T28	$BJJq)	
T28	$BJJq)
5"
 C1u9q=C
5"
 CR!|+a/C dSj133&'dSj133&')I
QS
!CsH	KH%%'
,,q/C88C=B
,,q/C88C=B    N)
sympyr   sympy.physics.mechanicsr   r   r   r   r   r	   r(    r)   r'   <module>r-      s     2 C C ?
%r)   