[Al Skierkiewicz]

3311,
The winch without the motor can be cost accounted using this...
4.3.5 Cost Determination of Additional Parts
The "cost" of each non-KOP item is calculated based on the following criteria, as applicable:
A. The purchase price of a COTS item offered for sale by a VENDOR to any customer.
B. The total cost (materials + labor) of an item you pay someone else to make.
C. The fair market value of an item obtained at a discount or as a donation. Fair market value is that price at which the supplier would normally offer the item to other customers. Also considered to be "fair market value" are the discounted prices offered to all teams by suppliers with established relations with FIRST.

Where you may run into problems is that the item is not COTS since it is a prototype and not available to other teams, now. And the part was not designed by you for this season's robot. The Q&A will need to rule on this item before you can use it.