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  _____      ___      _  __     ___      ______  
 |__  //    / _ \\   | |/ //   / _ \\   /_   _// 
   / //    | / \ ||  | ' //   | / \ ||  `-| |,-  
  / //__   | \_/ ||  | . \\   | \_/ ||    | ||   
 /_____||   \___//   |_|\_\\   \___//     |_||   
 `-----`    `---`    `-` --`   `---`      `-`'

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