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A drive has the following parameters: J=10 (kg-m 2 ), T=100-0.1N (N-m), Passive load torque T l =0.05N (N-m), where N is the speed in

A drive has the following parameters:

J=10 (kg-m 2 ), T=100-0.1N (N-m), 

Passive load torque T l =0.05N (N-m), 

where N is the speed in rpm. Initially the drive is operating in steady-state. Now it is to be reversed. For this motor, the characteristic is 

T= -100-0.1N (N-m).

Calculate the time of reversal.

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