The recitation reviewed how to write the equations of motion for flywheel systems. The dependent variables are the flywheel angular velocities, 1 and 2. The input is a motor moment denoted u (unit: Newton-meter). Each flywheel has the same inertia, denoted J > 0. The flywheels are coupled by friction that exerts a moment of equal magnitude but of opposite sign on each flywheel. The moment magnitude from this friction is c2|1 2|. Flywheel 1 also experiences its own bearing friction that creates a moment magnitude of c1|1|, however, in this problem c1 = 0