Consider the electromechanical system shown below. Find the transfer function relating the angle of disc J4 to the voltage applied to the electric circuit powering the DC motor (i.e., find 04 (s)/V(s)). The system parameters are as follows: Electrical system: C = 2 F DC motor: Ja = 0.5 kg-m, Da = 4 N-m-s/rad, Kt/Ra = 1.5, Kb = 3 Gear train: N = 120, N = 240, N3 = 400, N4 = 200, N = 160 Rotational mechanical system: J = 7 kg-m, J = 5 kg-m, J3 = 800 kg-m, J4 = 600 kg-m v(t) J e J ON NS J3 J4