EXAMPLE 1: MOTION RELATIVE TO MOVING FRAME

                                                                                                                       

Calculate the velocity and acceleration of the particle P that is moving with constant speed relative to the disc along the groove. The bar OA is rotating with a constant counter-clockwise rotation of  relative to the ground and the disc D is rotating at a constant CCW rate of  relative to OA. The length of OA is l.

 

 

SOLUTION:

 

To calculate the velocity we have

 

Note that

 

Substitution into (1) to get the velocity of P, this gives

 

To get the acceleration we have

Note that

 

 

Substitution into (2) gives the acceleration of P as