Question: J 1 1 + d 1 ( 1 , 2 , 1 , 2 , 1 , 2 ) = 1 J 2 2 +

J11+d1(1,2,1,2,1,2)=1
J22+d2(1,2,1,2,1,2)=2
J1=m1lc12+m2(l12+lc22)+I1+I2
J2=m2lc22+I2
d1=2m2l1lc2c21+d122+2h12+h2?2+g1
d2=d211-h1?2+g2i want the transferfunction
J11+d1(1,2,1,2,1,2)=1 J22+d2(1,2,1,2,1,2)=2 J1=m1lc12+m2(l12+lc22)+I1+I2 J2=m2lc22+I2 d1=2m2l1lc2c21+d122+2h12+h2?2+g1 d2=d211-h1?2+g2i want the transferfunction

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