1. The problem statement, all variables and given/known data 2. Relevant equations Shown Below 3. The attempt at a solution I need to find the torque (or even better, velocity) as a function of position. Right now I have mass and centroid (to find the force of gravity on the pulley at any position). Not sure if the mass moment of inertia is right. I need to know now is how the non-circularity of the pulley affects the net torque on it. I'm guessing there has to be some kind of integral of the perpendicular to the surface of the pulley but I'm not sure. Of course, this will have to be split up into 2 phases - when the cable isn't tangent to the pulley and after it is. Any ideas?