Re: Worked example using Kane's method to determine equations of motion?

I was wondering if anyone knew of a good reference that walks through an example of deriving the equations of motion of a system (say an
inverted pendulum or a two wheel balancing robot) via Kane's method? On-line is preferred, but a good textbook reference would also be appreciated. Yes I have his textbook - that's why I want a more explicit example of how to determine the generalized forces and velocities.
Thanks Roy
Add pictures here
<% if( /^image/.test(type) ){ %>
<% } %>
Add image file
Upload is a website by engineers for engineers. It is not affiliated with any of manufacturers or vendors discussed here. All logos and trade names are the property of their respective owners.