ENGR $2120$: Dynamics

Derive an expression for the position of the end$-$point of the machine as expressed in your

normal and tangential coordinate system. Keep your answer in variable form. It should

be expressed in terms of some or all of the following: $,{}^{},{}^{},r,r^{},r^{}.$

vec$(r)=$dots,hat$(u{)}_t+.,$hat$(u{)}_n$

Derive an expression for the velocity of the end$-$point of the machine as expressed in your

normal and tangential coordinate system. Keep your answer in variable form. It should

be expressed in terms of some or all of the following: $,{}^{},{}^{},r,r^{},r^{}.$

vec$(v)=,$hat$(u{)}_t+,$hat$(u{)}_n$

Derive an expression for the acceleration of the end$-$point of the machine as expressed in

your normal and tangential coordinate system. Keep your answer in variable form. It

should be expressed in terms of some or all of the following: $,{}^{},{}^{},r,r^{},r^{}.$ HINT: $r$

vec$(a)=,$hat$(u{)}_t+.,$hat$(u{)}_n$