# Example 19.1
md = 10 kg
mb = 5 kg
x = 0.25 m
id = 0.5 * md * x^2
y = 4 m
ib = (1/12) * md * y^2
om = 8 rad/s
vd = om * x
hd = id * om + md * vd * x
omd = vd / 3.464 m
hb = ib * omd

# Example 19.2
FPS
w0 = 20 lb
m0 = w0 / grav()
r = 0.75 ft
M0 = 4 lb ft
f = 10 lb
ia = 0.5 * m0 * r^2
delt = 2 s
begin
   ay = 1 lb
  om = 1 rad/s
   fy = ay * delt - w0 * delt - f * delt
   MM = M0 * delt + f * delt * r - ia * om
end
solve(fy,MM,ay,om)

# Example 19.3
m0 = 100 kg
rg = 0.35 m
ig = m0 * rg^2
t = 1 s
c0 = 10 N
c1 = 1 N / 1 s
p = c0 + c1 * t
delt = 5 s
r1 = 0.4 m
r2 = 0.75 m
begin
 om2 = 1 rad/s
 imp = 1 N s
 vg2 = r2 * om2
 px = c0 * delt + (c1 / 2) * delt^2  
 fx = imp + px - m0 * vg2
 MM = px * r1 + imp * r2 - ig * om2
end
solve(fx,MM,om2, imp)

# Example 19.4
mb = 6 kg
md = 20 kg
id = 0.40 kg m^2
v1 = 2 m/s
delt = 3 s
r = 0.2 m
om1 = v1 / r
begin
  tt = 1 N
  om2 = 1 rad/s
  v2 = om2 * r
  MM = id  * om1 + tt * delt * r - id * om2
  fy = mb * v1 + (tt - mb * grav()) * delt - (-mb * v2)
end
solve(MM,fy,tt, om2)

# Example 19.6
m0 = 10 kg
ig = 0.156 kg m^2
r = 0.2 m
x = 0.03 m
begin
  vg1 = 1 m/s
  vg2 = 1 m/s
  om1 = vg1 / r
  om2 = vg2 / r
  MM = (r - x) * m0 * vg1 + ig * om1 - (r * m0 * vg2 + ig * om2)
  UU = 0.5 * m0 * vg2^2 + 0.5 * ig * om2^2 - m0 * grav() * x
end
solve(MM,UU,vg1, vg2)

# Example 19.7
mr = 5 kg
mb = 0.004 kg
vb1 = 400 m/s
q = 30 deg
x = 0.75 m
r = 0.5 m
ig = (1/12) * mr * (2 *r)^2
begin
 om2 = 1 rad/s
 vb2 = om2 * x
 vg2 = om2 * r
 MM = mb * vb1 * cos(q) * x - (mb * vb2 * x + mr * r * vg2 + ig * om2)
end
solve(MM, om2)

# Example 19.8
FPS
wr = 10 lb
wb = 2 lb
mr = wr / grav()
mb = wb / grav()
vb1 = 30 ft/s
r = 1.5 ft
e = 0.4
ig = (1/12) * mr * (2 * r)^2
vg1 = 0 m/s
begin
  om2 = 1 rad/s
  vb2 = 1 m/s
  vg2 = r * om2
  MM = mb * vb1 * r - (mb * vb2 * r + mr * vg2 * r + ig * om2)
  err = (vg2 - vb2) / (vb1 - vg1) - e
end
solve(MM, err, om2, vb2)

# Homework Problems:

TBD