% rotz= @(x,a) [cos(a) -sin(a); sin(a) cos(a)]*x
% 
% 
% for i = 1:6
%   i
%   rotz([1;0],i*2*pi/6)  
% end    

%3
 m=1;
 I= [ 0.007 0 0 
     0 0.007 0
    0 0 0.012];
kt= 5.57*10^(-6);
kq= 1.36*10^(-7);
wim = 838;

Tmax = wim^2*kt;
g= 9.81;

amax = 4*Tmax

amax- g