The bar AB is pinned to the ground at A, and its angle θ with respect to the vertical is a...

The bar AB is pinned to the ground at A, and its angle θ with respect to the vertical is a known function of time. The bar BC is pinned to the bar AB at B, and its orientation ϕ is measured with respect to the bar AB. The position of the collar D is measured relative to the bar BC by the coordinate s, which is also a known function of time. The length of the bar AB is d = 2 ft. At the instant shown, θ = 30°, ϕ = 30°, , Express all your answers in the xyz frame that is attached to the bar BC and whose origin is at B. Hint: As we will see in Eq. (10.14), .

Determine the velocity of the collar D at this instant.

Figure P6.166