Hi Guys, I was hoping someone would be able to help me with this integration. It's been killing me haha. I've got this energy balance equation: mgh = 0.5m(v^2) + 0.5I(w^2) + T(theta) Basically, It's a gravitational potential energy that is converted to a velocity of a falling object, a rotating flywheel and some frictional Torque (T). v is velocity, and w is angular velocity. I is the moment of inertia, which is known. I need to integrate this expression with respect to time, t. I can relate velocity to angular velocity by: 0.0395w. I also thought I could express theta as angular velocity multiplied by time. Any help would be greatly appreciated as I cannot get this out at all.