Fig. $1$

$[25$ pt$.]$ For the system shown in Fig. $1$

a$)$ Write ONLY the equations of motion

b$)$ For each equations of Part $($a$)$ draw a causal block diagram and connect them to each other

c$)$ Give a state space representation and tell us how would you express the system in observer canonical form, don't find the representation just describe the method?

d$)$ Take all parameters as $1$ and let Matlab block diagram reduction tools to generate the overall transfer function with the velocity of mass $2$ output?