Linearisation of the pendulum about its two equilibria (Q1618)

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Linearisation of the pendulum about its two equilibria
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    \\theta\\approx 0:\\ \\ \\frac{d^{2}\\theta}{dt^{2}}+\\frac{g}{L}\\theta=0;\\qquad \\phi=\\theta-\\pi\\approx 0:\\ \\ \\frac{d^{2}\\phi}{dt^{2}}-\\frac{g}{L}\\phi=0
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