1.2 Degrees of freedom
a. 18
b. 2
c. 4
d. 1
e. 0
f. 1

1.3 Generalized coordinates
a. Rectangular coordinates, with respect to an arbitrary origins, 
   for each of the three juggling pins, ordered.
b. Fix an axis system, with origin at the fixed support point.
   z-axis points downwards vertically.
   Orientation x to z, y to z.
c. Same as b from second massless rod. For first massless rod, fix
   axis system, with origin at the second point mass. Then, similar to b.
d. Fix a 0 and direction on the curve. Single coordinate is signed
   distance travelled on the curve from the 0.
e. ()
f. Fix a direction normal to the symmetry axis (A). Fix a direction
   normal to the symmetrx axis on the body (B). Coordinate is angle
   from (A) to (B).