answer it please step by step. can you write the answer on the paper?? it could be more convenient for me. thanks

The figure below shows a pulley system consisting of a sphere of mass ms suspended by a massless pulley. Furthermore, the sphere is connected to a cylinder C of mass Mc and radius Rc on one side, and another cylinder D of mass Md and radius Rd on the other side by a massless rope. A homogeneous mass ma is attached to the cylinder C and is able to slide without friction on an inclined plane oriented at an angle with respect to the horizontal. The other end of the cylinder D is connected to a homogeneous block of mass mb. There is no sliding between the rope and the cylinders. (a) Draw a free body diagram for the blocks, the sphere, and the cylinders. (b) Write down the equations of motion for the blocks, the sphere, and the cylinders using Newton's law. (c) Write down the equations of motion for the cylinders using Euler's law. (d) Determine the kinematic relations between the block A and the cylinder C, between the sphere and the cylinders, and between the cylinder D and the block B on acceleration level. (e) Due to a fault in the cylinder D, it fails to rotate. Assuming that the mass of the block A is ma=30kg, mass of the cylinder C is Mc=70kg, mass of the sphere is ms=10kg, calculate the acceleration of the sphere and tensions in the rope