The angular motion of the forearm of a human hand carrying a mass is shown in Fig. 2.102. During motion, the forearm can be considered to rotate about the joint (pivot point) O with muscle forces modeled in the form of a force by triceps (c1) and a force in biceps (c2θ) where c1 and c2 are constants and is the velocity with which triceps are stretched (or contracted). Approximating the forearm as a uniform bar of mass m and length l, derive the equation of motion of the forearm for small angular displacements Also find the natural frequency of the forearm.
