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Figure1UnicycleasaninvertedpendulumStraightforwardmechanics2givestheequationofmotionwithmasscancelledlgsinzcoswherellengthoftheequivalentsimplependulumgaccelerationofgravityFrictioni

Figure1:Unicycleasaninvertedpendulum.Straightforwardmechanics[2]givestheequationofmotion(withmasscancelled)l=gsinzcos;wherel=lengthoftheequivalentsimplependulum g=accelerationofgravity.Frictioni

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