Problem 5: modeling mechanical system Figure 2 shows the simplified diagram of the printwheel control system of a word processor. The printwheel is controlled by a DC motor through belts and pulleys. Assume that the belts are rigid. The following parameters and variables are defined: 7 (t) is the motor torque; e(t), the motor angle; y(t), the linear displacement of the printwheel; Jm, the motor inertia; B. the motor viscous-friction coefficient; r, the pulley radius; and M, the mass of the printwheel. Tm Motor Jm Bm Printwheel M y(1) Pulley Figure 2: Trailer-towing system (a) Write the differential equation of the system Y(s) (b) Find the transfer function where Tm(s) and Y(s) are the Laplace transform of Tm(t) and y(t), respectively.