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Question: a motor is used to raise a mass using the...

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A motor is used to raise a mass using the belt-driven pulley system shown. The inertia of the rotating motor armature, shaft, and drum is given by . Pulley A and pulley B are rigidly connected to each other, forming a single rigid body with a common hub, with the rotational inertia of each individual pulley given by IA and IB. Draw a FBD and MAD for each rigid body in this system, clearly identify your coordinates, and use them to determine the equation of motion where the motor torque M is the forcing and the motion of the mass upward (described by its position coordinate y) is the response. Furthermore, obtain an expression for the tension in the rope attached to the mass being raised in terms of the applied motor torque. 2

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