Animation of motion
Note that as link BD passes through the horizontal orientation, the velocity of B (as well as the angular velocity of AB) instantaneously goes to zero, yet the acceleration of B is not zero. In a couple days when we cover instant centers of zero velocity we will be able to predict when point B has zero velocity.
- Note that since D is traveling on a straight line with constant speed, the acceleration of D is zero. Therefore, we can write: a_B = a_D + alpha_BD x r_B/D - omega_BD^2*r_B/D = alpha_BD x r_B/D - omega_BD^2*r_B/D.
- Note that since A is a pin joint, the acceleration of A is zero. Therefore, we can write: a_B = a_A + alpha_AB x r_B/A - omega_AB^2*r_B/A = alpha_AB x r_B/A - omega_AB^2*r_B/A.
- Equate the expressions of a_B from 1. and 2. above. This gives you two SCALAR equations in order to solve for two unknowns, alpha_AB and alpha_BD.
Note that you need to solve the velocity problem first. Follow the above procedure to do so. Here. the velocity of D is known as v_D = -v_D*j_hat.
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