Bar AB rotates about point A with constant angular speed ω1. Bar BC is pinned to bar AB at...

Bar AB rotates about point A with constant angular speed ω1. Bar BC is pinned to bar AB at B and rotates with constant angular speed ω2 relative to bar AB about the pin at B. The position of collar D relative to bar BC is given by the coordinate s, which is a known function of time. Express your answers in the xyz frame that is attached to bar BC with its origin at B. Hint: As we will see in Eq. (10.14), .

Determine the acceleration of the collar D in terms of d, ω1, ω2, and the position coordinate s and its time derivatives.

Figure P6.139