Bar AB rotates about point A with angular speed ω1 and angular acceleration α1, both in th...

Bar AB rotates about point A with angular speed ω1 and angular acceleration α1, both in the directions shown. Bar BC rotates about the pin at B relative to bar AB with angular speed ω2 and angular acceleration α2, both in the directions shown. 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 an expression for the acceleration of the collar D in terms of d, ω1, ω1, α1, α2 and the position coordinate s and its time derivatives.

Figure P6.164