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3. Printwheel system with belts and pulleys is shown in Figure below 3.1 Write the differential equations of the system using ( theta_{mathrm{m}} ) and ( y ) as the dependent variable 3.2 Write the state equations using ( x_{1}=r theta_{m}-y, x_{2}=d y / d t, x_{3}=d theta_{m} / d t ) as state variables 3.3 Draw a state-flow diagram for the system 3.4 Find the transfer function ( mathrm{Y}(mathrm{s}) / mathrm{Tm}(mathrm{s}) ). 3.5 Find the characteristic equation of the system
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