If you've worked with some advanced dynamics problems, you'll know that it's often next to impossible to derive the equations of motion by hand. While most courses will teach you how to solve these kinds of systems using matrices and numerical methods, I'll show you how I use the Sympy.physics.mechanics module in python to solve for the equations of motion symbolically. These can then be simulated by numerical integration.

I know AVR microcontrollers are somewhat outdated nowadays, because espressif chips are just on another level, but I was forced to use one for a class so perhaps this will be useful for someone in a similar boat.‍ As an alternative to programming your AVR microcontrollers in MPLAB or Atmel Studio, you can use VSCode with the PlatformIO extension.