 Two hinged rods sliding on a floor

Two equal uniform rods of length $2l$ and mass $M$, one pivoted to the floor and the other endpoint sliding on it, have arch coordinates $B=(2l\cos \theta ,2l\sin \theta )$ and $C=(4l\cos \theta ,0)$. The kinetic energy decomposition about the center of mass gives $T=\frac{4}{3}M{l}^2(1+3{\sin }^2\theta ){\dot{\theta }}^2$, while gravitational potential energy is $2Mgl\sin \theta$. Conservation of energy from rest at angle $\alpha$ gives the displayed equation and hinge impact speed $\sqrt{6gl\sin \alpha }$, provided contact is maintained. The endpoint's normal reaction becomes negative during this constrained fall if $\sin \alpha >35/54$; a unilateral floor then permits detachment and the constrained formula no longer describes the entire motion.