What are the equations of motion governing the simple gear demo in Simulink 7.9 (R2012a)?

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MathWorks Support Team
MathWorks Support Team on 23 Apr 2013
In the shipped demo - 'sdl_simple_gear.mdl', I would like to know the mathematical relationship between the 'Inertias' specified in the model and the 'Torque' measured by the Torque sensors.

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MathWorks Support Team
MathWorks Support Team on 23 Apr 2013
In the document attached with this solution, the mathematical relationship between the inertias and the torque measured is derived.

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