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The diagram shows a simple winch. The motor drives a small gear (30 teeth) and the large gear (150 teeth) rotates the drum and raises the load. The load is 3kN and it is raised at 0.5m/s. The system is 65% efficient. The diameter of the drum is 80mm and weighs 5kg. The motor shaft's inert is Js1=0.01kgm and the drum' shaft's inertia is 0.04kgm. The driver gear has an inertia of 0.05 kgm and the driven gear has an inertia of 0.1 kgn i) Find the required steady-state torque at the motor shaft. 80 mm diameter 30 tooth 150 teeth Motor Load b) The planned trajectory profile for the winch is trapezoidal. The acceleration and deceleration phase occurs for 5 seconds, while the phase at constant velocity occurs for 3 minutes. Plot the corresponding torque profile.