A one-degree-of-freedom torsional plant is shown in Figure 4, where friction is idealised as being viscous. In Figure 4, T (t) is the torque [Nm], 0 is the angular displacement [rad], J is the moment of inertia [kgm], and c is the friction coef- Nm ficient [ ]. Consider the torque T as the input and the angular displacement e as the output for this system. rad/s Develop the governing equation of motion for the system shown in Figure 4. b) Determine the transfer function of the above system. c) Compare the calculated transfer function to the standard form, G(s) = K s(st+1)' [10 Marks] [10 Marks] and evaluate parameters K, T as functions of the parameters J, c of the physical system.