function [dX] = BeamDynamics( X, T )

% Spring 2018 Version
% m = 0.5kg
% J = 0.1 kg m2

z = X(1);
q = X(2);
dz = X(3);
dq = X(4);

m = 0.5;
J = 0.1;
g = 9.8;
F = 0;

M = [1.4*m, 0; 0, 0.5*J + m*z*z];
B1 = F + m*z*dq*dq - m*g*sin(q);
B2 = T - 2*m*z*dz*dq -m*g*z*cos(q);

dZ = inv(M)*[B1; B2];
dX = [dz; dq; dZ];

end