Consider the mechanical system shown in Fig. 2.28. Let I denote the moment of ineris of the bar and block about the hinge. It is assumed that the angular displacement 0 is ver small. An external force u is applied to the bar as shown. Let y be the displacement of the block, with mass m2, from the equilibrium. Find a state-space equation to describe the system. Find also the transfer function from u to y. Au m1 k2 12 m2 FIGURE 2.28