Another question i cant get my head around (this ones a bit long):

1) express each force in vector form

2)Derive equation of motion for particle p1 and p2

3)write down distance p2 has fallen after time t and deduce magnitude of acceleration of p2 as r*theta where theta is magnitude of angular acceleration

4) show that

Magnitude of angular acceleration = g(2-cos(theta))/3R

5) Show that magnitude of normal reaction of the cyclinder on P1 is

mg(5sin(theta)-4*(theta))