Can someone please show me step by step how to answer this question?

note: D(t) is a disturbance

thanks in advance

X1 X2 u(t) Cart 1 Cart 2 D(t) k oo -Assume no friction, no initial conditions -For the two-mass-spring model above, draw FBDs for both masses and derive DEs using Newton's law. Derive the transfer function X1(s)/U(s) and X2(s)/U(s). -Assuming M=M2=spring=1 plot the root locus and bode plot of each transfer function derived above using MATLAB