hyev will tell you the compressed one has to weigh more - because it won't stay compressed on its own - it needs some sort of clamp. And you sure as heck can't find weightless clamps.
humber is likely to come up with some different offering of wrong.
Perhaps you would like to tell me why the TM cart is anything more than a device that stores all its KE in the angular components, and so has no linear KE.
Can you do that? With an MSc in control from UCLA in your pocket, that part of the design should be easy, so all that remains is the primary mechanism. Can you fault my proposal?