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A simple pendulum consists of a mass m at one end of a massless rigid rod of length d. It is pivoted on the end without a mass and free to move in a vertical plane.

a. How many degrees of freedom does the pendulum have?

b. Write the Lagrangian for the pendulum.

c. Use the Lagrangian to generate an equation or equations of motion.

d. If we limit the pendulum to small angle motion, what is the angular frequency?

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