Equations of Motion
The equations of motion of inverted pendulums are dependent on what constraints are placed on the motion of the pendulum. Inverted pendulums can be created in various configurations resulting in a number of Equations of Motion describing the behavior of the pendulum.
Read more about this topic: Inverted Pendulum
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“I have seen in this revolution a circular motion of the sovereign power through two usurpers, father and son, to the late King to this his son. For ... it moved from King Charles I to the Long Parliament; from thence to the Rump; from the Rump to Oliver Cromwell; and then back again from Richard Cromwell to the Rump; then to the Long Parliament; and thence to King Charles, where long may it remain.”
—Thomas Hobbes (1579–1688)