Problems And Solutions Pdf | Lagrangian Mechanics
(x_1 = L_1\sin\theta_1,; y_1 = -L_1\cos\theta_1) (x_2 = L_1\sin\theta_1 + L_2\sin\theta_2,; y_2 = -L_1\cos\theta_1 - L_2\cos\theta_2).
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(x_1 = L_1\sin\theta_1,; y_1 = -L_1\cos\theta_1) (x_2 = L_1\sin\theta_1 + L_2\sin\theta_2,; y_2 = -L_1\cos\theta_1 - L_2\cos\theta_2).
A direct Google search for the exact phrase yields many results, but quality varies. Below are reliable sources (both free and institutional).