a$)$ Calculate the torque required for the actuators driving a mobile robot with the following specs

$[6$ Marks$]$

$1-$ Total mass: $5Kg$

Number of driving wheels: $2$

$3-$ Mass on each drive wheel: $2Kg$

$4-$ Radius of wheels: $2cm$

$5-$ Desired top speed: $0\mathrm{.}5\frac{m}{s}$

$6-$ Desired acceleration time: $0\mathrm{.}2sec$

Maximum incline angle: $2$ degrees

$8-$ Working surface: concrete $($rolling resistance coefficient: $0\mathrm{.}01,$ static friction

coefficient between the wheel and the ground: $0\mathrm{.}4)$