A two-mass system is shown in Figure P2.37 with an input force u(t). When m1 = m2 = 1 and K1 = K2 = 1,

(a) find the set of differential equations describing the system, and

(b) compute the transfer function from U(s) to Y(s).

K m x(t) m2 y(t) u FIGURE P2.37 Two-mass system.