2. An Atwood machine consists of two masses, m1 and mz, and a cylindrical pulley with mass ms and radius r. The axle is frictionless and the string is massless. The heavier mass m1 is held at a height h above the ground and released from rest, The moment of inertia of a cylinder is $mr\". a) Draw free body diagrams of each mass and the pulley. b) Write equations for the translational motion for each mass and the rotational motion for the pulley. c) Determine the translational acceleration of each mass, d) Determine the rotational acceleration of the pulley. e) Determine the tension in the string connected to the heavier mass. f) Determine the tension in the string connected to the lighter mass. g) Determine the upward force of the axle on the pulley. h) Deterine the time it takes for the heavier mass to reach the ground. i) Deterine the speed of the heavier mass right before it hits the ground. h j) Determine the rotational speed of the pulley right before the heavier mass hits the ground