A roller has the weight P, radius R and small radius r = 0.6R. It is pulled along a ramp without sliding by the torque M and forces F1 and F2 applied to the ends of the strings wound round the drum and roller. The roller is assumed to be homogeneous circular cylinder starting motion from rest. Find the equation of motion of the centre of gravity C of the roller xc = f(t). ... Set # 3 M, Nm F1, N 30 60 -0.3PR 0.1P F2, N 0