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. The curved bar BC is pinned to bar AB at B and rotates with angular speed ω2 and angular acceleration α2 about the pin at B in the directions shown, relative to bar AB .At this instant, collar D is at the top of the curved bar BC. The speed and acceleration of D relative to bar BC are given by v0 and a0, respectively. 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, R,ω1, ω2 α1, α2, v0, and a0.

Figure P6.149