A rotary pendulum, shown in Figure 11.30, is composed of a uniform disk of radius R and a thin uniform rod of length l and mass mr, pinned by its end to the edge of the disk. The rod swings in the plane tangent to the edge of the disk. Assuming the disk has a moment of inertia J about its center, find the equations of motion of this system.
![1455_1b6d3d68-89dd-4731-9832-deb0f8eafa5e.png](https://secure.tutorsglobe.com/CMSImages/1455_1b6d3d68-89dd-4731-9832-deb0f8eafa5e.png)