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Force/Torque on a cylindrical system

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Hello Great Mech Engineers, I would appreciate any help I can get in doing this design. Many thanks in anticipation. 

1. Two solid cylinders are connected together by a shaft as shown in the attachment. The mass, height and radius of the big and small cylinders are given as M,H,R and m,h,r respectively.  Assuming frictionless support at both ends of the cylinder, what is the magnitude of the tangential or shaft-applied force/torque that will cause the cylindrical system to keep rotating at a constant angular velocity of w as shown? Assume the mass of the shaft is negligible. Please make any other necessary assumption.

2. Assume the system is replaced with cuboids of same masses and dimensions L,W,H and l,w,h. What would be the required force/torque?

cylindrical system2.jpg

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I did not see any mention of negative torques, and without them, there will be nothing to slow the system down. What are your load torques?

DrD

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