Solve Example 6.20, where \(k_{1}=3 \mathrm{~N}-\mathrm{m} / \mathrm{rad}, k_{2}=\) \(10 \mathrm{~N}-\mathrm{m} / \mathrm{rad}, I_{1}=5 \mathrm{~kg}-\mathrm{m}^{2} / \mathrm{rad}, I_{2}=2 I_{1}\), and \(I_{3}=\) \(I_{2} / 2\).

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Example 6.20 Unrestrained Rotation Solve the three degree-of-freedom rotational model of Figure 6.45 and show how unrestrained rotation has ap- plications to rotating machinery.