A yo-yo (as shown) falls under gravity. Assume that it falls straight down, unwinding as it goes. Find the Lagrange equation of motion. Hints: The kinetic energy is the sum of the trans- lational energy mż? and the rotational energy I0² where I is 11. the moment of inertia. What is the relation between ż and 0? Assume the yo-yo is a solid cylinder with inner radius a and outer radius b.

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