# pulley

Define a pulley component to parametrize the definition of a cable system.

## Syntax

pulley(c,v,r,p1,p2,Ml)

out = pulley(...)

## Inputs

`c`- Circle center coordinates in a 3-element vector.
`v`- Circle orientation coordinates in a 3-element vector.
`r`- Circle radius.
`p1`- Input point coordinates in a 3-element vector.
`p2`- Output point coordinates in a 3-element vector.
`Ml`- Cable mass or unit length.

## Outputs

`out`- Output

## Examples

Example with output argument.

```
c = [0,0,0];
v = [0,0,100];
r = 100;
p1 = [-100,0,0];
p2 = [0,100,0];
Ml = 1;
out = pulley(c, v, r, p1, p2, Ml);
disp(out);
```

`[Matrix] 1 x 2
4.71239 471.23890`

## Comments

This function is used along with winch and tangent to parametrize the definition of a cable system.