The rotating pendulum is a typical underactuated system with a rotating shaft of the motor attached to the end which is free to spin about an axis parallel to the axis of rotation of the pendulum.

旋转摆属于典型的欠驱动系统，通过驱动杆的水平转动可使欠驱动杆由垂直下摆位置转到竖直向上位置。

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The pendulum jarred against her arm, of course, while she was yanking the latch free to open the glass panel of the clock.

当然，在它用力拉插销打开钟的玻璃面板时，钟摆撞到了她的手臂。

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In his view, recently the pendulum swung a little too far from regulation and towards a free market and we need to swing a little bit farther back.

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