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A pendulum consists of a disk of mass, m, and radius, r, connected to a pivot...

A pendulum consists of a disk of mass, m, and radius, r, connected to a pivot point via string (of negligible mass) of length, l. Note, the disk hangs vertically and the string is attached to its top. For small angles, derive an expression for:

(a) angular position as a function of time

(b) angular velocity as a function of time

(c) angular acceleration as a function of time

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