The mass only moves in the direction of the theta axis. So, I only care about forces in this direction. The tension from the string is always perpendicular to the direction of motion. There is a ...

In this project, I used the sympy package in python to establish the dynamic model of an inverted pendulum with a mass m, hinged on a box with a mass, M. After establishing the dynamic motion formulae ...

Theta-double-dot is the angular acceleration. Needless to say, this is the answer. If you want you could do some more tricks - like only consider small theta.