Chapter 4, Problem 4.91P

(a) Obtain the equations of motion of the system shown in Figure P4.25. (b) Suppose the inertias are $I_1=I$ and $I_2=2I$ and the torsional spring constants are $k_1=k_2=k_3=k$ . Obtain the transfer functions ${\Theta }_1\left(s\right)/T_2\left(s\right)$ and ${\Theta }_2\left(s\right)/T_2\left(s\right)$ in terms of I and k. (c) Suppose that $I=10$ and $k=60$ . Obtain a plot of the unit-impulse response of ${\theta }_1$ for zero initial conditions.