A trebuchet, shown schematically in Figure, is a shooting weapon of war powered by a falling massive counterweight m1. A beam AB is pivoted to the chassis with two unequal sections a and b. The origin of a global coordinate frame is set at the pivot point. The counterweight m1is at (x1, y1) and is hinged at the shorter arm of the beam at a distance c from the end B. The mass of the projectile is m2 and it is at the end of a massless sling with a length l attached to the end of the longer arm of the beam. The three independent variable angles α, θ, γ describe the motion of the device. Consider the parameters a, b, c, d, l, m1, m2 constant, and determine the equations of motion by the Lagrange method.
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