D6-02 Dievskiy

For the mechanical system shown on the diagram, using the Lagrange equations of the second kind, determine the angular acceleration or linear acceleration indicated on the diagram. Threads are weightless and inextensible. Accepted designations: m - body masses, R and r - radii, ρ - radius of inertia (if not specified, the body is considered a homogeneous cylinder); In the presence of friction, the following are indicated: f is the friction coefficient of sliding, fk is the friction coefficient of rolling.