Two thin disks, each of mass m and radius r, are connected by a thin rigid axle of

mass m0 and length L, and roll without slipping on the horizontal xy-plane. (a) Using

(v, ) as velocity variables, find the kinetic energy and the mass matrix. (b) If the

system is initially at rest, solve for v and due to a transverse horizontal impulse F

which is applied to the axle at a distance c from its centre.