The analysis of the personal transporter in Example 3.5.6 assumed that the driving force / was the

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The analysis of the personal transporter in Example 3.5.6 assumed that the driving force / was the given input. Instead, model the system with the assumption that the input is the total torque Tw applied by the motor to the wheel-axle unit. The wheel radius is R. Obtain the equations of motion in terms of x and ( with T and Tw as the input.
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System Dynamics

ISBN: 978-0073398068

3rd edition

Authors: William Palm III

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