Q4 [20 pts] A simplified model of a washing machine is illustrated below. k/2 Top view c/2 ma k/2 m c/2 Frictionless support Two bundles of wet clothes form two masses of 5 kg (ma) and 3 kg (mb) in the machine and cause a rotating unbalance. The mass of the empty machine (m) is 20 kg and the radius of the washer basket (e) is 25 cm, the angle between two bundles is 90. Let k = 1000 N/m and equivalent damping ratio = 0.02. a. (10 pts) Draw the free body diagram (FBD) and formulate the equation of motion (EOM) in mass normalized form when the washer basket rotates at rad/s. b. (10 pts) Find the steady state response, yp(t), of the machine when the washer basket rotates at 100 rpm.