B3. Consider the mechanical system shown in Figure B3. The wheel with inertia J moves only about the stationary axis A. r is radius of the wheel. Friction f, is proportional to velocity with a coefficient of c. There is no friction between the body M and the bottom surface. M is the mass of the body. k is stiffness of spring. Tin is the input torque to the wheel. wwwww Tin fv M Figure B3 (a) Draw the free body diagram for the system. [20%] (b) Write the differential equations for the system. [20%] (c) Consider the torque Tin is the input, whilst the displacement of body of mass M is the output of the system. Write the transfer function for the system. [30%] (d) Consider the torque Ti, is the input, whilst the displacement of body of mass M is the output of the system. Write the state-space equations for the system. This study source was downloaded by 100000866456734 from Course Hero.com on 05-01-2023 01:34:50 GMT-05:00 https://www.coursehero.com/file/151900673/MN5552-exam-paper-2021-Maypdf/ [30%]