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A hollow cylinder of mass M1 and radius R1 rolls without slipping on the inside surface of another hollow cylinder of mass M2 and radius R2. Assume
R1<<R2. Both axes are horizontal, and the larger cylinder is free to rotate about its axis. What is the angular velocity or frequency of small oscillations? (You
can use sin(0)-O when O is small). Note: Please write each step of your solution with an explanation.
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