Problem 6.3 The rest positions are at 6; = 01 = 02 = 0. The free body diagrams shown in Figure 6.3 are for the case where @ > 01, 6 > 62, and @ > 0. From Newton's law for inertia Ii: T8, = kx (8i ~ 01) — e(61 — 62) From Newton's law for inertia Ip: hii e(d, — 42) — bx Rearrange these into standard form to obtain: Iibh + by + bah — hide + edn and Tabs + chy + kala = ob Ka V=)) (4-4) Figure : For Problem 6.3 Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976 United States Copyright Act without the permission of the copyright owner is unlauful