The motor in Figure lifts the mass mL by winding up the cable with a force FA.

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The motor in Figure lifts the mass mL by winding up the cable with a force FA. The center of pulley B is fixed. The pulley inertias are IB and Ic. Pulley C has a mass mC. Derive the equation of motion in terms of the speed vA of point A on the cable with the force FA as the input.
The motor in Figure lifts the mass mL by winding
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System Dynamics

ISBN: 978-0073398068

3rd edition

Authors: William Palm III

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