1. The problem statement, all variables and given/known data Equation 1: m1g - T1 = m1a (for first mass) Equation 2: T2 - m2g = m2a (for second mass) Equation 3: (T1-T2)R = IA (for pulley; A = rotational acceleration) What are the steps I must take to get the final equation that describes the motion of the system: (m1-m2) g = (m1+m2+I/R^2)a ?? Thank you 2. Relevant equations 3. The attempt at a solution I can figure out a = g(m1-m2)/(m1+m2) BUT i dont know how to factor in equation 3?