Two blocks, M1 and M2 (M1 is less than M2) are connected by a massless rope that passes over a pulley. M1 is initially resting on the ground, and M2 is h off the ground. The pulley has a diameter d and a mass m - it cannot be considered massless (tensions of the rope on either side of it are different). As the pulley turns, fiction at the axle exerts a torque of magnitude "torque". If the blocks are released from rest, how long does it take M2 to reach the floor?

Two blocks, M1 and M2 (M1 is less than M2) are connected by a massless rope that passes over a pulley. M1 is initially resting on the ground, and M2 is h off the ground. The pulley has a diameter d and a mass m - it cannot be considered massless (tensions of the rope on either side of it are different). As the pulley turns, fiction at the axle exerts a torque of magnitude "torque". If the blocks are released from rest, how long does it take M2 to reach the floor?