The depicted pulley system consists of a rod (mass mr, length L), a triangular body (mass mT ), a ball (mass mb ), a wheel (radius rw and mass mw ), a spool (outer radius Rc, inner radius rc, mass mc ) and a massless pulley. All components are connected by a massless rope. The whole system is considered frictionless and there is no slip. Use the given positive directions for the movement of the bodies. a) Define the kinematic relations within the system: - between the rod and the wheel (2P) r=rwLr=Lrwwr=rwLw