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work is given by
:

Notice that the coefficient of is the -component of the applied force. In the same way, the coefficient of is known as the generalized force along generalized coordinate , given by
:

To complete the analysis consider the kinetic energy of the mass, using the velocity,
:so,
:

D'Alembert's form of the principle of virtual work for the pendulum in terms of the coordinates and are given by,
:This

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