For the system shown in Figure P5.11, the input is the force fa(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.
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