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Question: problem 4 modeling mechanical system a vehicle towing a trailer...

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Problem 4: modeling mechanical system A vehicle towing a trailer through a spring-damper coupling hitch in shown in Fig. 1. The following parameters and variables are defined: M is the mass of the trailer, k, is the spring coefficient of the trailer, va(t) is the displacement of the towing vehicle, va(t) is the displacement of the trailer, and f() is the force of the towing vehicle. Figure 1: Trailer-towing system (a) Write the differential equation of the system (b) Find the transfer function兴, where F(s) and Y1 (s) are the Laplace transform of f(t) and Vi (t), respec- tively
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