4. Consider the pulley system shown in Fig. 4, and derive an equation of motion for the mass m1. Assume that: m1 > m2 and that the pulley 1 has negligible friction and negligible inertia – that is, the tensions on the cable are the same on both sides of this pulley. The pulley with moment of inertia I2 has radius R2.

Fig: 1

Fig: 2