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            _____    _    _      ___              
  ____     |  ___|| | |  | ||   / _ \\    ____    
 |    \\   | ||__   | |/\| ||  / //\ \\  |    \\  
 | [] ||   | ||__   |  /\  || |  ___  || | [] ||  
 |  __//   |_____|| |_// \_|| |_||  |_|| |  __//  
 |_|`-`    `-----`  `-`   `-` `-`   `-`  |_|`-`   
 `-`                                     `-`

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Text this: Modeling of a rigid-flexible manipulator using Hamilton’s principle