Consider a rigid body rotating with a constant angular velocity w radians per second about a fixed

Question:

Consider a rigid body rotating with a constant angular velocity w radians per second about a fixed axis through O?as in Figure. Let r be the distance vector from O?to P,?the position of a particle in the body. The velocity u of the body at P?is |u| = d_w=?|r| sin ??|w| or u = w?X r. If the rigid body is rotating with 3 radians per second about an axis parallel to a_x???2a_y?+ 2az?and passing through point (2, ?3, 1), determine the velocity of the body at (1, 3, 4).