A centrifuge consists of four cylindrical containers, each of mass m, at a radial distan...

A centrifuge consists of four cylindrical containers, each of mass m, at a radial distance r from the rotation axis. Determine the time t required to bring the centrifuge to an angular velocity ω from rest under a constant torque M applied to the shaft. The diameter of each container is small compared with r, and the mass of the shaft and supporting arms is small compared with m.