The dynamics of co- and counter rotating coupled spherical pendulums
  The dynamics of co- and counter-rotating coupled spherical pendulums (two lower pendulums are mounted at the end of the upper pendulum) is considered. Linear mode analysis shows the existence of three rotating modes. Starting from linear modes allow we calculate the nonlinear normal modes, which are and present them in frequency-energy plots. With the increase of energy in one mode we observe a symmetry breaking pitchfork bifurcation. In the second part of the paper we consider energy transfer between pendulums having different energies. The results for co-rotating (all pendulums rotate in the same direction) and counter-rotating motion (one of lower pendulums rotates in the opposite direction) are presented. In general, the energy fluctuations in counter-rotating pendulums are found to be higher than in the co-rotating case. 
Blazej Witkowski and Przemyslaw Perlikowski and Awadhesh Prasad and   Tomasz Kapitaniak
physics.class-ph nlin.CD