You can check out the explanation here
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Click Start to see the dynamics of a pendulum system. To spice things up, click Chaotic to generate 20 pendulum systems.
In Chaotic mode, it is recommended to use Bottom mass(es) only and toggle path off for aesthetic purpose.
The default Ordinary Differential Equation (ODE) solver is Euler's method. To get a more accurate solution, please use the RK4 method instead.
This double pendulum system is the solution to the following system of differential equations: (NOTE: masses of the two masses are the same, length of the two rods are the same)
$ 2\ddot{\theta}_1 + \cos(\theta_1-\theta_2) \ddot{\theta}_2 = - \dot{\theta}_2^2\sin(\theta_1-\theta_2) - 2\frac{g}{l}\sin\theta_1 $
$ \ddot{\theta}_2 + \cos(\theta_1-\theta_2) \ddot{\theta}_1 = \dot{\theta}_1^2\sin(\theta_1-\theta_2) - \frac{g}{l}\sin\theta_2 $
Currently I have implemented both the Euler method and RK4 method to solve for the numerical solution to this differential equation.