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You have rigid parts that can move independently (subject to the degree-of-freedom constraint). Each part has its own center of mass. The overall CoM is the mean of the part CoM's, expressed in a common Cartesian coordinate system, weighted (pun unavoidable) by their respective mass fraction. That should be general enough to compute the overall CoM for any ...


No difference at all although φ∈[−π,π) is much more reasonable and intuitive. It is just a matter of system definition.

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