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X к Input: Force F(t) M ө has mass m с Ground R D Ground The figure above shows schematically a translational+rotational system defined by mass M and the disk with mass m and radius R, and a connecting spring with elasticity K. We note that the disk rotates about point D. The inertia J is defined with regard to point D. The system is driven by force F(t) (input) as shown. The output variables are (t) and x(t). The EOM for the motion of inertia J about point D is O J*7+ +(2R) KO-2RKx = 0 Oj*+2R²K0–2RKy =-F(t) O J*+(2R) KO–2RKx = F(t) = O J*2 +2KO, -2Kx = 0 O J*7+2RKO-2RKy=0)