The Atwood machine consists of two masses hanging from the ends of a rope that passes over a pulley. The pulley can be approximated by a uniform disk with mass mp=5.33 kg and radius rp=0.150 m. The hanging masses are mL=20.5 kg and mR=11.7 kg. Two masses are connected by a rope that passes over a pulley. The mass labeled M subscript L hangs directly beneath the left edge of the pulley. The mass labeled M subscript R is smaller than M sub L and hangs directly beneath the right edge of the pulley. M sub R is lower than M sub L in its initial position. Calculate the magnitude of the masses' acceleration a and the tension in the left and right ends of the rope, TL and TR , respectively.