The Atwood machine consists of two masses hanging from the ends of a rope that passes over a pulley. the pulley can be approximated by a uniform disk with mass mp=5.73kg and radius rp=0.350m. The hanging masses are mL=19.3kg at mR=13.5kg. Calculate the magnitude of the masses' acceleration a and the tension in the left and right ends of the rope, Tl and Tr, respectively. a= TL= TR=