Homework H$\mathrm{.}3.$E

Given: A shaft rotates about a fixed vertical axis at a constant rate of $,$ as shown below. A

straight bar OA$,$ having a length of $L,$ is pinned to point O on the shaft, with O being on the

rotation axis of the shaft. At the instant when $=0,$ bar OA is being raised at a rate of ${}^{}$ from

the horizontal plane, with this rate changing at a rate of ${}^{}.$ A set of $xyz$ coordinate axes is attached

to bar OA with its origin at O $.$ A second set of coordinate axes, $xYZ,$ are fixed to ground. At the

instant when $=0,$ the $xyz$ and $xYZ$ axes are aligned with each other.

Find: For the instant when $=0,$ determine the angular velocity and angular acceleration of bar

OA$.$

Use the following parameters in your analysis: $=6ra\frac{d}{s},{}^{}=5ra\frac{d}{s},{}^{}=-4$rad$/$s$^2$ and $L=2$

m$.$