Problem. 1P. Step-by-step solution. Step 1 of 6. Solve the problem by using data of row 'a'. (a) Calculate the shaking force. Here, is the centripetal force on mass 1, is the mass of each leg, is the distance to the CG, and is the angular velocity. Here, is the centripetal force on mass 2, is the mass of each leg, is the distance to the CG ...