Disk 3 of radius R is being slowly rolled under pivoted bar 2 driven by an applied torque, T.

Assume a coefficient of static friction of μ

between the disk and ground and that all other joints are frictionless. A force, F, is acting vertically downward on the bar at distance d from the pivot, O2. Assume that the weights of the links are negligible in comparison to F. Find an equation for the torque, T, required as a function of distance x = RCO2 , and an equation for the final distance, x, that is reached when friction no longer allows further movement.