A machine part consists of three levers connected by lightweight linkages. A vibration model of this part is given in Figure 4.19. Use the Lagrange method to obtain the equa- tion of vibration. Take the angles to be the generalized coordinates. Linearize the result and put it in matrix form. k₁ A A A m2 Figure 4.19 A vibration model of three coupled levers. The lengths of the levers are I, and the springs are attached at a units from the pivot points.