DISCUSSION
Suggested solution strategy:

• v_A = v_O + ω_OA x r_A/O
• v_B = v_H + ω_BH x r_B/H
• v_A = v_B + ω_AB x r_A/B
• Combine above, solving for the two unknown angular velocities.
• v_E = v_B + ω_AB x r_E/B

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DISCUSSION
Suggested solution strategy:

• v_B = v_E + ω_BE x r_B/E
• v_A = v_O + ω_AO x r_A/O
• v_A = v_B + ω_AB x r_A/B
• Combine above, solving for the two unknown angular velocities.
• Repeat the above for accelerations.

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DISCUSSION

• The no-slip point C is the IC for the disk. Therefore, the velocity of E, v_E, is perpendicular to the line EC.
• AB rotates about the fixed point A. Therefore, the velocity of B, v_B, is perpendicular to line AB.
• Construct perpendiculars to v_E and v_B.
• The intersection of these two perpendiculars is the IC for BE.

In a freeze-frame of the simulation results below, note that vE is perpendicular to line EC, as expected.

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DISCUSSION
Suggested solution strategy:

• Find IC for DB at the intersections of the velocities for D and B. Call this point K. In which direction is link DB rotating? And, in which direction is AB rotating?
• Find IC for DG at the intersections of the velocities for D and G. Call this point N. In which direction is link DG rotating? And, in which direction is EG rotating?
• Find IC for GH at the intersections of the velocities for G and H. In which direction is GH rotating?

In a freeze-frame of the simulation results below, note the direction of motion for points D, B, G, E and H. Do these directions agree with those found in your analysis?

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DISCUSSION
For velocity analysis, you will need a rigid body velocity equation for the triangular plate:

v_A = v_B + ω_AB x r_A/B

Take note that A and B both have constrained motion along their respective slots.

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DISCUSSION
For velocity analysis, you will need a rigid body velocity equation for each link:
v_B = v_O + ω_OB x r_B/O
v_A = v_B + ω_AB x r_A/B

For acceleration analysis, you will need a rigid body acceleration equation for each link:
a_B = a_O + α_OB x r_B/O - ω_OB² r_B/O
a_A = a_B + α_AB x r_A/B - ω_AB² r_A/B

Take note that A has constrained motion along the inclined slot.

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DISCUSSION
The tank is known to roll without slipping on the bed of the truck, with both the truck and the center of the tank C moving with constant speeds. Let D represent the contact point of the tank on the bed of the truck. As you write down the acceleration equation for point A referenced to the no-slip point D:
          a_A = a_D + α x r_A/D - ω²r_A/D
do not forget that the contact point D has a vertical component of acceleration.

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DISCUSSION
For velocity analysis, you will need a rigid body velocity equation for each link:
v_A = v_B + ω_AB x r_A/B
v_A = v_C + ω_disk x r_A/C
and, for acceleration analysis you will need a rigid body acceleration equation for each link:
a_A = a_B + α_ABx r_A/B- ω_AB²r_A/B
a_A = a_C + α_disk x r_A/C - ω_disk²r_A/C
In addition for acceleration, you also need a rigid body acceleration equation relating points O and C on the disk.

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DISCUSSION
Here you need to use the rigid body velocity and acceleration equations to relate the motions of points O and A:

v_A = v_O + ω x r_A/O
a_A = a_O + α x r_A/O - ω²r_A/O

Please ask and answer questions here. Either way, you learn.

DISCUSSION
For velocity analysis, you will need a rigid body velocity equation for each of the two links:
v_A = v_O + ω_OA x r_A/O
v_B = v_A + ω _ABx r_B/A
Combine these equations to get a single vector equation for the velocity of B.

Repeat the process for acceleration:
a_A = a_O + α_OA x r_A/O - ω_OA²r_A/O
a_B = a_A + α_AB x r_B/A - ω_AB²r_B/A

Please ask and answer questions here. Either way, you learn.