Rocking pendulum with phase space

Simulation of rocking semicircular disk (or cylinder) with an attached pendulum mounted on the disk surface. The disk is uniform solid and is rolling without slipping. The semicircular disk has 32 times greater mass than the pendulum bob. The system has two degrees of freedom associated with the angle of the disk and pendulum arm respectively.

All simulations are initialized with the same low energy, and the initial conditions were extracted from a Poincaré section. The tracks of the bob and the phase space coordinates (p1,q1) are displayed for each simulation. Only the last simulation exhibits chaotic motion.

The simulations were performed using high order explicit symplectic integrators and were rendered in real time.

#pendulum

[NoenD_io]

Can you do differential steering 3d simualtion