Find the equilibrium position of the winch

[datanhlg]

Homework Statement

A whip made from a material shaped shaft axis radius R and moment of inertia I and a crank with the axis perpendicular to the axis of rotation of length l and mass m, while the rest parallel to the handle - mass ##m_{2}##. It hangs on a hoist that has mass m. Suppose rope hanging objects weighing negligible.

Homework Equations

Find the equilibrium position of the winch (ie alpha angle on the picture) and the oscillation cycle of generation after small changes of the crank position. Ignore the resistance movement.

The Attempt at a Solution

Please explain for me how to do it, thank and sorry my bad English

 

[haruspex]

In equilibrium, the torques about the rotation axis have to balance. What is the torque from the hanging mass? What is the torque from the crank and the handle?