Problem 5: Textbook Problem 5.18 (Refer below for problem statement and figure). Given: N (Gear ratio) =

R₂/R₁ = 01/02;

5.18. A torque input Ta(t) is applied to the lower gear shown in Figure P5.18. There

are two outputs: the total angular momentum and the viscous torque acting on J₁, with the

positive sense clockwise.

Derive a differential equation relating 0₁ and Ta(t).

b. Select state variables and write the model in state-variable form.

R₂

J₂

R₁

K

Stall

B

Rigid