variable as $x_2=z_1^{}-b_1{z}_0\frac{t}{m_1}.]$

$5\mathrm{.}33$ Figures P$5\mathrm{.}33$a and P$5\mathrm{.}33$b show the pantograph system described in Problem $2\mathrm{.}27($Chapter $2).$ Obtain a

complete SSR where the two inputs are overhead wire displacement $z_w(t)$ and piston force $f_a(t)$ and the

two measured outputs are the $($compressive$)$ contact force between the wire and head mass and the relative

displacement between the head and frame masses $($i$.$e$.,z_1-z_2).$ You may assume that the spring $k_1$ is

always in compression.

Figure P$5\mathrm{.}33$b