1. A simple model of autonomous vehicle steer system is shown in the figure. Electric motor and rack and pinion viscous friction coefficient is B, Electric motor inertia J, and the shaft's flexibility constant is K. Rotary to linear motion conversion is achieved by a Rack and Pinion gear system. The required linear load force is Fx and Radius of the pinion (rotary part) is f. Write down the dynamic mechanical equations for 0 and explain it with units. Convert Fx to the Torque Load TL. 2. For the figure below, G(s) =9/s (s+1) Tem 1 Fx Motor