A homogeneous pulley with two grooves consists of two wheels which turn together as one around the same axis. The moment of inertia of the two wheels together is ICM = 40 kg m2. The radii are: R1 = 1.2 m and R2 = 0.4 m. The masses that hang on both sides of the pulley are m1 = 36 kg and m2 = 12 kg. We will assume that the masses of the ropes are negligible. Determine the angular acceleration of the pulley, acceleration of the masses, and the tensions of the ropes.

A homogeneous pulley with two grooves consists of two wheels which turn together as one around the same axis. The moment of inertia of the two wheels together is ICM = 40 kg m2. The radii are: R1 = 1.2 m and R2 = 0.4 m. The masses that hang on both sides of the pulley are m1 = 36 kg and m2 = 12 kg. We will assume that the masses of the ropes are negligible. Determine the angular acceleration of the pulley, acceleration of the masses, and the tensions of the ropes.