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