Masses m and 2m are joined by a light inextensible string which runs without slipping over a uniform circular pulley of mass 2m and radius r. (a) using the angular position of the pulley as a generalized coordinate, write down the lagrangian function of the system. your expression should only contain the variables q and . it may also contain other constants involving the mass m, the length l of the string, and the height h of the pulley from the ground (b) what is the lagrange's equation for this problem? (c) solve the lagrange's equation, and from there, calculate the common acceleration of the two masses in terms of g, the acceleration due to gravity on the surface of the earth useful information: the moment of inertia of a uniform disk of mass m about its central axis is 2 mr2