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Consider a mass m which is attached to the origin by a rope of length R,...

Consider a mass m which is attached to the origin by a rope of length R, and is free to swing under the influence of gravity. In other words, it is constrained to be on the inside surface of a frictionless sphere of radius R. Find the equations of motion, denoting θ as the angle that the rope makes with the vertical (θ = 0 is straight down) and φ as the normal angle in the xy plane.

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