The pendulum consists of two rods: AB is pin supported at A and swings only in the y-z plane, whereas a bearing at B allows the attached rod BD to spin about rod AB. At a given instant, the rods have the angular motions shown. Also, a collar C has velocity v_C and acceleration a_C along the rod. Determine the velocity and acceleration of the collar at this instant. Solve such that the x, y, z axes move with curvilinear translation, Ω = 0, in which case the collar appears to have both an angular velocity Ωxyz = ω₁ + ω₂ and radial motion.

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Given: 001 002 4 5 rad S rad S 01 = 1.5 002 = -6 rad 2 S rad 2 S "CB = 3 aCB = 2 EI m S m S a = 0.5 m 2 b = 0.2 m