Oops, just a few typos that I made--sorry!
Where does the w^2 come from?
m_S * w_s * r_S * r_S only has a single w_s in it, not two, and L_S = I_S * w_S, not I_S * w_S^2, right?
I think you're trying to say 1500 * w + 1800 * w, which is exactly what I had, just not in quite the same...