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In the mechanical system shown above, the pulley has a mass m and radius r so that it has a moment of inertia J = mr 2 /2 .
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pulley.JPG

In the mechanical system shown above, the pulley has a mass m and radius r so that it has a moment of inertia J = mr2/2 . Obtain the mathematical model of the system for the angular position θ .

pulley.JPG

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