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A mass m1 is connected by a light string that passes over a pulley of mass M to a mass m2 as shown in the figure. Both masses move vertically and there is no slippage between the string and the pulley. The pulley has a radius of 20.0 cm and a moment of inertia of ½ MR2. If m1 is 3.00 kg, m2 is 6.00 kg and M is 4.00 kg, then what is the magnitude of the acceleration of the masses?
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