Symbol

Definition

Value

$m_b$

mass of the ball

0.286 kg

$r_b$

radius of the ball

0.02 m

$r_M$

lever arm offset

0.078 m

g

gravitational acceleration

9.81 m/s²

L

length of the beam

0.6 m

$J_b$

ball's moment of inertia

1.76 e⁻⁵ kg*m²

$\alpha$

beam angle

$\phi$

servo gear angle