For the system shown in Figure P5.11, the input is the force f a (t), and the output is x 1 . Assume that the lever is ideal and that |?| is small. a. Select a suitable set of state variables and...

For the system shown in Figure P5.11, the input is the force f_a(t), and the output is x₁. Assume that the lever is ideal and that |?| is small.

a. Select a suitable set of state variables and write the corresponding state-variable model.

b. Find the input-output differential equation when a= 2 and b =K₁
= K₂
= B = M₁
= M₂
= 1 in a consistent set of units.