How to Calculate Angular Impulse for Inelastic Collision?

[TsAmE]

Homework Statement

(Refer to attachment)

Homework Equations

None.

The Attempt at a Solution

5.1 Inelastic collision because they stick together.

5.2 Impulse = Lf - Li
= Iwf - Iwi
= (1/2MR^2 + mR^2)w1 - (1/2MR^2)w0 + mRv0

I tried to use this equation which is related to the linear one, but not sure if it is right for angular impulse. Also I don't understand whether you can have an impulse for 2 objects at the same time (as for example the linear equation F(t) = m(vf - vi), only has the mass of 1 of the objects, not both of them).

 

[Nate810]

I think the impulse should be calculated for each object separately, and then add them up.Impulse for M = Iwf - Iwi = (1/2MR^2)w1 - (1/2MR^2)w0Impulse for m = Iwf - Iwi = mR^2w1 - mRv0Total Impulse = (1/2MR^2)w1 - (1/2MR^2)w0 + mR^2w1 - mRv0 = (1/2MR^2 + mR^2)w1 - (1/2MR^2)w0 + mRv0