he pulley shown in Figure 2.2 is ideal (i.e., it has no mass and no friction). There is no slippage between the cable and the surface of the cylinder, thus both masses move with the same velocity. It is assumed that the gravitational force is zero during the motion. The cable is always in tension, but not stretched. The symbols K1, K2 and K3 are the spring constants, fv is the coefficient of viscous friction and, M1 and M2 are the masses. Force, f(t), is applied on M1 as shown in the figure.
(i) Obtain the differential equation of motion for the system using the free body diagram approach.
(ii) Find the transfer function that relates the displacement at the M2 to the input force if M1=1, M2=1, K1=1, K2=1, K3=1 and fv=1.
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