Question: Figure shows a winch supported by a cantilever beam at the stern of a ship. The mass of the winch is mw, the mass of

Figure shows a winch supported by a cantilever beam at the stern of a ship. The mass of the winch is mw, the mass of the beam plus winch bracket and motor is mb. The object hoisted by the winch has a mass mb; the wire rope mass mr is assumed to be negligible compared to the other masses. Find the equation of motion for the vertical motion x1 of the winch:
(a) Assuming that the rope does not stretch and
(b) Assuming that the rope stretches and has a spring constant kr.

ITi r1 IIn mth In mh in

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