Problem 9: The compound disk pulley consists of a hub and attached outer rim. If it has a mass of 3 kg and a radius of gyration of kG=45 mm, Blocks A and B each have a mass of 2 kg. Neglect the mass of the cords and their strings move without slipping. Draw the FBD and write all the kinetic equations and the additional equations. Solve for the equations of motion. Ans: θ¨=mAR12+mBR22+mDkG2g(mBR2−mAR1)
