Question: Consider the torsional mechanical microsystem shown in Figure, formed of three identical flexible bars and two identical rigid plates. Derive the time domain mathematical model of this system and determine the transfer function matrix corresponding to the input mt and the outputs i1 and i2. Confirm the obtained result by deriving the impedance-based transfer function matrix and the corresponding mechanical impedance circuit. Consider that known are the bars' torsional stiffness k and the plates mass moment of inertia J.
