September 24, 2017

Let the left most spring stiffness be the middle spring stiffness be and the rightmost spring stiffness be . Let the mass of the left cylinder be and the mass of the right cylinder be .

The generalized coordinates are and . Using Lagrangian method we find

Therefore

and for

and for

Hence EQM are

or

we obtain the equations of motion

For the special case when , and we obtain