# Example 19.2
mc = 142 kg
mw = 9 kg
ii = 0.8 kg m^2
r = 0.33 m
v = 25 m/s
MM = 140 N m
b = (0.5 * mc + mw + ii / r^2) * r * v^2 / MM


# Example 19.5
MKS(N)
ll = 6 m
h = 0.5 m
m0 = 70 kg
v = 6.8 m/s
ii = (1/12) * m0 * ll^2
om = 0.74 rad/s
delt = 0.01 s
ss = ((0.5 * ll - h) * m0 * v - ii * om) / (h * delt)



# Example 19.6
MKS(N)
ip = 0.4 kg m^2
im = 0.001 kg m^2
m0 = 4 kg
r1 = 0.6 m
r2 = 0.2 m
om1 = 1 rad/s
BEGIN
  om2 = 1 rad/s
  e2 = (ip + 2 * (im + m0 * r1^2)) * om1 - (ip + 2 * (im + m0 * r2^2)) * om2
END
solve(e2,om2)



# Example 19.8
m0 = 170 kg
vg = 8.8 m/s
ii = 22 kg m^2
om = 0.2 rad/s
e = 0.8
q = 50 deg
vx = vg * cos(q)
vy = -vg * sin(q)
j_dot_v = vy - 0.65 m * om
BEGIN
   omp = -14 rad/s
   vyp = -4 m/s
   j_dot_vp = vyp - 0.65 m * omp
   err1 = -(j_dot_vp) / j_dot_vp - e
   err2 = 0.65 m * m0 * vy - 0.78 m * m0 * vx + ii * om \
        - (0.65 m * m0 * vyp - 0.78 m * m0 * vx + ii * omp)
END
solve(err1,err2,omp,vyp)


# Homework Problems:

TBD