The pulley in a form of a disk, has a mass of 6 Kg and a radius of 50 cm. The right mass of 4 Kg. and the left mass of 2Kg are linked with a rope having a negligible mass. By considering both the Rotational and the Translational Energies, find the velocity of the right mass just before it strikes the floor. The initial elevation of the right mass was 6 m.