The wheel D rotates without slip over a curved cylindrical surface with constant radius of...

The wheel D rotates without slip over a curved cylindrical surface with constant radius of curvature L = 1.6 ft and center at the fixed point E. The XY frame is attached to the rolling surface, and it is inertial. The xy frame is attached to D at O and rotates with it at a constant angular velocity ωD = 14 rad/s. Collar C slides along the bar AB with a constant velocity υC = 4 ft/s relative to the xy frame. At the instant shown, points O and E are vertically aligned. Letting ℓ = 0.25 ft and R = 1 ft, determine the inertial velocity and acceleration of C at the instant shown when θ = 25° and the xy frame is parallel to the XY frame. Express your result in the xy and XY frames.

Figure P6.137