6 kg mass and a 5 kg mass are connected by a massless string over a pulley that is in the shape of a solid wheel having a radius 0.59 m and mass 4....

A 1.6 kg mass and a 5 kg mass are connected by a massless string over a pulley that is in the shape of a solid wheel having a radius 0.59 m and mass 4.3 kg. The two blocks hang vertically down. The pulley has a constant friction torque 4 Nm. Determine the linear acceleration of the blocks. Answer in "m/s^2"