1. The problem statement, all variables and given/known data An Atwood's machine consists of two masses, mA and mB, which are connected by an inelastic cord of negligible mass that passes over a pulley. If the pulley has radius R0 and moment of inertia I about its axle, determine the acceleration of the masses mA and mB. 2. Relevant equations L = mvr T = dL/ dt 3. The attempt at a solution This is an example from my textbook. The solution involves: angular momentum about the axle = (mA +mB)vR0 + Iv/R0 torque about the axle = mBgR0 - mAgR0 Then it uses the equation T = dL/dt and finds accelerations of the masses. What confuses me is the way it calculates the torque. When we were solving this exact same problem in rotational motion, the equations were like these: mB*g - FTB = mB*a FTA - mA*g = mA*a (FTB - FTA )*r = I*a/r How can angular momentum solution get rid of tensions in the torque equation?