$$
\begin{align}
\begin{cases}
I & =\frac{gr^2}{2ha_1} =3.674\times 10^{-3}\ kg\ m^2 \
M_\mu & =-\frac{2hIb_1}{r} =4.984\times 10^{-4}\ kg\ m^2\ s^{-2}
\end{cases}
\end{align}
$$
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$$
\begin{align}
\begin{cases}
I & =\frac{gr^2}{2ha_1} =3.674\times 10^{-3}\ kg\ m^2 \
M_\mu & =-\frac{2hIb_1}{r} =4.984\times 10^{-4}\ kg\ m^2\ s^{-2}
\end{cases}
\end{align}
$$