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Chapter 3 Pendulum
My explanation about the multiplying the angular acceleration by -1 has some flaws according to this discussion on Khan Academy: https://www.khanacademy.org/computing/computer-programming/programming-natural-simulations/programming-oscillations/a/trig-and-forces-the-pendulum?qa_expand_key=ag5zfmtoYW4tYWNhZGVteXIlCxIIVXNlckRhdGEYqMN5DAsSCEZlZWRiYWNrGICAgJiazIUKDA