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For the simple pendulum shown in Figure E3.20, the nonlinear equations of motion are given by θ⃗(t) (g)/(L) sinθ(t) (k)/(m) θ̇(t)=0 where g is gravity, L is the length of the pendulum, m is the mass attached at the end of the pendulum (assume the rod is massless), and k is the coefficient of friction at the pivot point. (a) Linearize the equations of motion about the equilibrium condition θ0=0^∘. (b) Obtain a state variable representation of the system. The system output is the angle θ(t). Figur
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