
The Equations (ODE2):  
 
The Initial Conditions:  
 
Mass and Coefficients Convensions:  
We have set m1 = m2 = 1 (dimensionless). This means that our k1(k2) has unit N/(m*kg)
 
Numerical Calculation:  
Error range about 0.5%.
 
Simulation of Displacement vs. Time: Pink curve is corresponding to the motion of the pink cart. Green curve is corresponding to the motion the green cart. Typical cases:
 
Reference:  
Grant R. Fowles and George L. Cassiday: Analytical Mechanics, 5th Edition, Saunders College Publishing, section 11.3, pp. 382. 
Note: To see these simulations using Swing/Java2D, you must use a PC and install:
JRE (or JVM plugin) 1.4.0 or up from Oracle
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