Proof of Chaos: Measuring the Lyapunov Exponent 📈 The double pendulum is a classic example of a nonlinear dynamical system exhibiting deterministic chaos. To model its motion, we use Lagrangian Mechanics, focusing on energy states rather than force vectors. 1. Generalized Coordinates The system is defined by two angles, θ₁ and θ₂, measured from the vertical. The positions of the masses (m₁, m₂) are: • Mass 1: x₁ = L₁ sin(θ₁), y₁ = -L₁ cos(θ₁) • Mass 2: x₂ = x₁ L₂ sin(θ₂), y₂ = y₁ - L₂ cos(θ₂) 2