The Ultimate Spherical pendulum - American History Information Guide and Reference

A spherical pendulum is a generalization of the pendulum. It consists of a mass moving without friction on a sphere. The only forces acting on the mass are the reaction from the sphere and gravity.

It is convenient to use spherical coordinates and describe the position of the mass in terms of $(r,θ,φ)$ , where r is fixed.

$L=\frac{1}{2} m\left( r^2\dot{\theta}^2+r^2\sin^2\theta\ \dot{\phi}^2 \right) + mgr\cos\theta.$

$\frac{d}{dt} \left(mr^2\dot{\theta} \right) -mr^2\sin\theta\cos\theta\dot{\phi}^2+ mgr\sin\theta =0$

and

$\frac{d}{dt} \left( mr^2\sin\theta \, \dot{\phi} \right) =0$

showing that angular momentum is conserved.

Your American History Reference Guide! - Spherical pendulum