I wish to model a fishing rod (or a rope) by joining short segments. (The segments may have equal (short) length but each segment should be assigned its own individual mass.) One segment will influence the next by the torque between the segments. For the time being the joints can be regarded as plate springs (torque proportional to bending angle (a or alfa), individual k for each joint).
When I apply torque to the first segment (the "handle"), the torque will spread to the rest of the segments.
The problem is that I do not understand how to compute the movements that will occur at segment one (with mass m1) and the following segments, when I apply torque T1 to segment one (during time dt).
I am a (retired) medical doctor with interest in biomechanics, so please use only basic physical terminology. (I wish to migrate the model to biomechanical use. I have written computer programs for models before, so hopefully I can manage that part if I just get the motion equations straight.)