Atwood Machine with Rotation

When we studied the Atwood machine , before we neglected the rotation of the pulley. Now, however, we know how to treat rotational motion, and we can revisit the Atwood machine with rotation.

The acceleration of M₁ is now:

\[ \rm \mathbf{a = \frac{- g (M_{1} - M_{2})}{M_1 + M_{2} + (1/2)M_{3}}} \]