A device known as Atwood\'s machine consists of two masses hanging from the ends of a vertical rope that passes over a pulley. Assume the rope and pulley are massless and there is no friction in the pulley. When the masses are of 21.9 kg and 12.7 kg, calculate the magnitude of their acceleration, a, and the tension in the rope, T. Take g = 9.81 m/s2.