Problem 2 A commonly used winch mechanism (radii r, and r2) shown in Fig. 2 is modeled as an ideal transformer. Assume the system is initially at rest. Ideal transformer fi vi 0 ri 12 fo m VO b Figure...

Problem 2 A commonly used winch mechanism (radii r, and r2) shown in Fig. 2 is modeled as an ideal transformer. Assume the system is initially at rest. Ideal transformer fi vi 0 ri 12 fo m VO b Figure 2 a. Write the pair of equations for the winch (modeled as ideal transformer) in terms of forces fiofo and velocities Vi, V.. b. The mechanism is connected to a payload of mass m and damper b. Draw the free body diagram for the mass and damper. c. Derive the equation of motion (ODE) describing v.(t) for a specified input V.(s) force fi(t). Write the transfer function Fi(s) d. If fi(t) is a unit step input, find the initial slope of v.(t) and the steady state