Problem statementSolution video |

**DISCUSSION THREAD**

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**DISCUSSION**

It is recommended that you use the *moving reference frame kinematics equations* relating the motions of A and B:

**v**_{A} = **v**_{B} + (**v**_{A/B})_{rel} + **ω** x **r**_{A/B
}**a**_{A} = **a**_{B} + (**a**_{A/B})_{rel} + **α** x **r**_{A/B} + 2**ω** x (**v**_{A/B})_{rel} + **ω** x (**ω** x **r**_{A/B})

Placing the observer on bar ACD prescribes * ω* and

*to be the (unknown) angular velocity and angular acceleration, respectively, of ACD. What do you use for the relative velocity and relative acceleration terms,*

**α***(*and

**v**_{A/B})_{rel}*(*? The observer on ACD sees B moving along the slot. The magnitudes of these relative velocity and acceleration terms are unknowns, however, the two vectors are aligned with the slot.

**a**_{A/B})_{rel}In order to determine the velocity and acceleration of B for the above equations, you will also need the *rigid body kinematics equations* relating the motions of O and B:

**v**_{B} = **v**_{O} + **ω**_{BO} x **r**_{B/O
}**a**_{B} = **a**_{O} + **α _{BO}** x

**r**

_{B/O}+

**ω**

_{BO}x (

**ω**

_{BO}x

**r**

_{B/O})