FAQ: In Exercise 2.10, what do the variables phi represent?

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(Contributed by Richard Murray, 1 October 2012)

The variables math and math are the angles of the two masses on the shaft. The velocity of these masses are given by math. The remaining parameter values describe the physical constants for the system: math represents moments of inertia, math is the damping coefficient, math represents the shaft stiffness, math is the torque constant for the motor, and math is the disturbance torque applied at the end of the shaft.