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"In this example, we'll determine the equations of motion for the planar crane model shown in Figure 1. The system consists of a point mass, $m$, connected to the crane trolley, which has mass $m_t$, by an ideal pin via a massless rod of length $l$. The rotation of the suspension cable is represented by $\\theta$. There is a force, $f$, acting on the crane trolley.\n",
"\n",
"