 Solution

Use coordinates with the downward vertical as reference. The first rod's center is at $(a/2)(\sin \theta ,-\cos \theta )$, so its translational plus rotational kinetic energy is $m{a}^2{\dot{\theta }}^2/6$. The second center isIts squared speed is $a^2{\dot{\theta }}^2+a^2{\dot{\varphi }}^2/4+a^2\dot{\theta }\dot{\varphi }\cos (\theta -\varphi )$. Adding its center-of-mass rotation, using moment of inertia $m{a}^2/12$, gives the totalThe two center heights give $V=-mga(3\cos \theta +\cos \varphi )/2$. Hence $L=T-V$ is exactly the stated Lagrangian.

Small stable oscillations are about the downward equilibrium $\theta =\varphi =0$. Retaining quadratic terms gives $T_2=\frac{1}{2}{\dot{q}}^{T}M\dot{q}$ and $V_2=\frac{1}{2}{q}^{T}Kq$, whereA normal mode $q=v{e}^{i\omega t}$ satisfies $(K-{\omega }^{2}M)v=0$. With $\kappa =a{\omega }^2/g$, the determinant equation isThus the angular frequencies areBoth squared frequencies are positive. The amplitude ratio is $\varphi /\theta =(9-8\kappa )/(3\kappa )$: it is positive in the lower-frequency mode and negative in the higher-frequency mode. The rods therefore swing in phase in the first mode and in opposite phase in the second.