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An Atwood's machine consists of two masses,m1 and m2 (m2 > m

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An Atwood's machine consists of two masses,m1 and m2 (m2 > m1),which are
connected by a massless inelastic cord that passes over a pulley.Model the pulley as a cylinder of unknown radius R and known mass M.Noting that the tensions F1 and F2 are not equal,if the masses m1,m2 and M are known,find the acceleration of the system.
An Atwood's machine consists of two masses,m1 and m2 (m2 > m
滑轮力矩,作用产生转动加速度
F1-M1G = M1a
M2G-F2 = M2a
F2-F1 = 滑轮受力F
转动惯量*角加速度 = F*R 动转惯量是=1/2MR2
角加速度*R = a
联立上面方程
(F2-F1)R=a/R *1/2MR2
F1=M1G+M1a
F2=M2G-M2a
则M2G-M2a-M1G-M1a =1/2Ma
a=(2M2G-2M1G)/(M+2M2+2M1)