Chapter 20.4, Problem 54P

At the instant shown, the arm AB is rotating about the fixed bearing with an angular velocity ω₁ = 2 rad/ s and angular acceleration ${\stackrel{\dot{}}{\omega }}_1$= 6 rad/s². At the same instant, rod BD is rotating relative to rod AB at ω₂ = 7 rad/s which is increasing at ${\stackrel{\dot{}}{\omega }}_2$ = 1 rad/s². Also the cottar C is moving along rod BD With a velocity $\stackrel{\dot{}}{r}$= 2ft/s and a deceleration $\ddot{r}$= – 0.5ft/s², both measured relative to the rod. Determine the velocity and acceleration of the collar at this instant.