Modeling of Dynamics of Nonideal Mixer at Oscillation and Aperiodic Damped Mode

If the engine power (torque a) is insufficient for the rotary motion of the crank, then the crank will perform a damped oscillation process. The crank, under the action of torque a, initially rotates upwards by some angle and then falls downwards, before reaching the neutral equilibrium position under the action of torque it rises again, etc., until the oscillations are completely damped out.