EXAMPLE 1: KINEMATICS OF RIGID BODIES

The
bar OA rotates such that _{}, where _{} are constants. The
disk D rotates relative to bar OA such that _{}, where _{} is a constant.
Calculate the angular velocity and acceleration of D.
SOLUTION:
The
angle that line AB on D makes with the horizontal is _{}. The angular velocity of the disk is, therefore,
_{}
The
angular acceleration is
_{}