Draw the free body diagram for the ball. Write the Newtons second law for the ball, obtain the nonlinear equation of motion of the system. 2.2. Linearize the equation and take the Laplace transform to obtain the transfer function () () . 2.3. So far, you have obtained the plant transfer function. This plant is controlled by a positioncontrolled servo motor as the actuator. Include the following transfer function of the servo motor to your model: () = 2 0.01 + 1