Question: The single d.o.f. system shown operates in the horizontal plane. Torque T is externally applied on the pulley. Mass of link 1 is m,

The single d.o.f. system shown operates in the horizontal plane. Torque T

The single d.o.f. system shown operates in the horizontal plane. Torque T is externally applied on the pulley. Mass of link 1 is m, and its moment of inertia about mass center G is Ic. Masses of blocks A and B are ma and mg, respectively. Moment of inertia of the pulley about its mass center D is Ip. The spring is free when xa = a. Using virtual work method find the equation of motion of the system, using x, as the independent coordinate. The rope is tight during the motion. OG = d. Hint: To find 80 in terms of 8x4, you can use: x4 tan 0 = b link 1 rope A k XA B.

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