Masses m and 2m are joined by a light inextensible string which runs without slipping over a uniform circular pulley of mass 2m and radius a. Using the angular position of the pulley as generalized co-ordinate, write down the Lagrangian function, and Lagrange's equation. Find the acceleration of the masses.

Masses m and 2m are joined by a light inextensible string which runs without slipping over a uniform circular pulley of mass 2m and radius a. Using the angular position of the pulley as generalized co-ordinate, write down the Lagrangian function, and Lagrange's equation. Find the acceleration of the masses.