Question: 6) For the geared system shown below, where ma is the actuation torque, and m, is the load torque. Formulate the mathematical model when

6) For the geared system shown below, where ma is the actuation torque, and m, is the load torque. Formulate the mathematical model when known are: N = 24, N = 30, N3 = 36, N4 = 42, J = 4 10-5 kg-m, J = 5 x 10-5 kg-m, J3 = 7 10-5 kg-m, J4 = 9 10-5 kg-m, c = 2 N-m-s, k = 20 N-m, ma = 300 N-m, m = 40 N-m. (15 marks) C N3 N k C ma N N4 m

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