%% Part E
clc
clf
clear
close
%% Givens
m=10; %kg
J=2; %kg-m^2
k1=4; %N/m
k2=8; %N/m
b=0.5; %N-s/m
br=12; %N-m-s
R=0.5; %m

fs=10; %N
fdel=10; %N-s
fr=1; %N/s
fp=10; %N
tp=15; %s
ftr=10; %N
ttr=15; %s

den=[(J*m),(br*m+J*b+R^2*b*m),(J*k2+b*br+R^2*k1*m+R^2*k2*m),(R^2*b*k1+br*k2),(R^2*k1*k2)];

numX=[J,(br+R^2*b),(R^2*k1+R^2*k2)];
numY=[(R^2*b),R^2*k2];
numO=[(R*b),(R*k2)];
numF1=[(R^2*b*k1),(R^2*k1*k2)];
numF2=[(J*b),(J*k2+b*br),(br*k2+R^2*b*k1),(R^2*k1*k2)];
numT=[(J*R*b),(J*R*k2+R*b*br),(R*br*k2),(0)];