I'm trying to derive the equations of motion for the physical pendulum, and I'm confused to why $\omega = \sqrt{\frac{mgl_{cm}}{I_s}} $ ? Is it just a definition or can it be derived? I'm pretty sure I heard someone talk about a derivation, but I've had no luck in finding one myself.
My question extends to why $\omega = \sqrt{\frac{k}{m}}$ for a simple pendulum, as I presume the logic behind is the same as in the physical pendulum. My school's textbook derives it from $x(t) = A\sin(\omega t)$, but as far as I know, you need $\omega = \sqrt{\frac{k}{m}}$ to even show (which the book doesn't) that $x(t) = A\sin(\omega t)$ is a solution.
Symbols:
- $I_s$: Moment of inerti about pivot point
- $l_{cm}$: distance from pivot point to center of mass