At the instant shown, the wheel D rotates without slipping over a flat surface with an ang...

At the instant shown, the wheel D rotates without slipping over a flat surface with an angular velocity ωD = 14 rad/s and an angular acceleration αD = 1.1 rad/s2.The XY frame shown is inertial whereas the xy frame is attached to D. At the instant shown, the collar C is sliding along the bar AB with a velocity υC = 4 ft/s and acceleration aC = 7 ft/s2, both relative to the xy frame. Letting ℓ = 0.25 ft and R = 1 ft, determine the inertial velocity and acceleration of C when θ = 25° and the xy frame is parallel to the XY frame as shown. Express your result in both the xy and the XY frames.

Figure P6.125