This system has only a single degree of fredom. The length of the rope is determined by the angle phi by which it alredy as coiled up.
Lucas Tassilo Scharbrodt (2021). rope that coils itself up - Lagrange Mechanics (https://www.mathworks.com/matlabcentral/fileexchange/68003-rope-that-coils-itself-up-lagrange-mechanics), MATLAB Central File Exchange. Retrieved .
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