Load rising and coming to rest, no drive
Tf - lb =mR(d -g)
Deceleration d = [mgR + Tf ] / [ mR + (I/R) ]
Load being lowered and accelerating, no drive
Tf + lb = mR(g -a)
Accelaration b = [mgR - Tf ] / [ mR + (I/R)]
Load falling and being brought to rest
T=Ib- Tf +mR(g +d) |