2. Consider the planar motion of a body attached reference point A defined in the global...

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2. Consider the planar motion of a body attached reference point A defined in the global Cartesian reference system by the following time functions for its coordinates: XGA (t) = (7 + 12 t) in YGA (t) = (2-6 t) in Consider a body attached frame orientation/direction given by t measured in radians. GA (t) = = = 3 in Consider a body attached point A with body frame coordinates given by XAA1 and YAA = 4 in. a. Sketch the global reference point and frame and the body attached reference point and frame at t=0. b. Sketch the global reference point and frame and the body attached reference point and frame at t=1s. c. Determine the angular velocity of the body attached frame at t=1s with respect to the global reference frame. d. Determine the rotation matrix and its inverse at t=1s. e. Determine the unit vectors of the body attached frame at t=1s in terms of the unit vectors of the global frame. f. Determine the global frame coordinates of A at t=1s. g. Determine the global frame velocity of A at t=1s. h. Determine the global frame acceleration of A at t=1s. 2. Consider the planar motion of a body attached reference point A defined in the global Cartesian reference system by the following time functions for its coordinates: XGA (t) = (7 + 12 t) in YGA (t) = (2-6 t) in Consider a body attached frame orientation/direction given by t measured in radians. GA (t) = = = 3 in Consider a body attached point A with body frame coordinates given by XAA1 and YAA = 4 in. a. Sketch the global reference point and frame and the body attached reference point and frame at t=0. b. Sketch the global reference point and frame and the body attached reference point and frame at t=1s. c. Determine the angular velocity of the body attached frame at t=1s with respect to the global reference frame. d. Determine the rotation matrix and its inverse at t=1s. e. Determine the unit vectors of the body attached frame at t=1s in terms of the unit vectors of the global frame. f. Determine the global frame coordinates of A at t=1s. g. Determine the global frame velocity of A at t=1s. h. Determine the global frame acceleration of A at t=1s.