=+Problem 2.11 In the system shown in Figure 2.18.d a rotation speed ???? is imposed on the left disk which is connected through a shaft to a second disk of rotational inertia I around its centre. The shaft has a torsional stiffness k and its inertia is neglected. The rotation angle of the second disk measured with respect to an reference rotating with ???? is ????. On the second disk, at a distance e from its center, a pendulum is attached (point mass m and length ). The relative angle between the radial direction of the disk and the pendulum is called ????. We consider ???? and

???? as the generalized coordinates of the system. Gravity is not considered.