Consider the dynamics of the mass, disc, pulleys system. The equations describing the motion are given by: Disc A: m,aF -T Pulley C: JcC10a,-IT-.IT JA 5a,=r,-2F, wherer,-10N-m torque input Mass B: m,a,-7,-n48 Inertia values are: m, = 20 kg mlg = 0.002 ID +3.1kg mc-Mp =M=0 to 30 kg J,=0.00 13 ID + 0.188 kg-m2 with ID being the last four digits of your student ID number with any 0 digit replaced by 5 Jc = J,-.5M(12) kg-m2 In a matrix/vector format, define the following seven variables in a model A-B Xi=a, x,-a, acceleration of disc A c-g. acceleration of block B. =F, friction force for no slipmotion between disc A and support x, 7, force in cable A x5 = T, force in cable B x,s=Tc force in cableC x, = TO force in cable D The object of the analysis is to study the effect of the pulleys mass M on the system accelerations rces to understand when it is feasible to neglect them in the model. Also, we would like to w what the coefficient of static friction should be between disc A and its support so that the kno p model. disc does not slip, which would invalidate the no-sli