Typo!!!, rQ is actually rQ = 0.5(−di + cj)
16.2.19 A motor turns a uniform disc...
16.2.19 A motor turns a uniform disc of radius R about its mass center at a vari- able angular rate w with rate of change ó, counter-clockwise. The disc lies in the xy-plane and its angular displacement O is measured from the x-axis, positive counter-clockwise. What are the veloc- ity and acceleration of a point P at posi- tion Tp = cî + d ſ relative to the veloc- ity and acceleration of a point Q at posi- tion To = 0.5(-di + yſ) on the disk? (c2 + d2 < R2.) *