k$($m$)/($s$),$Y$\_($Q$)^()=+3$k$($m$)/($s$)$

deg,$\backslash$theta $\_(1)^()=+2$de$($g$)/($s$)$

: $\backslash$theta $\_(1)^()=+1$de$($g$)/($s$^(2))$

deg,$\backslash$theta $\_(2)^()=+1$de$($g$)/($s$)$

:I: $\backslash$theta $\_(2)^()=-0\mathrm{.}5$de$($g$)/($s$^(2))$

km$,$r$^()=-0\mathrm{.}01$k$($m$)/($s$)$

deg $,\backslash$phi $^()=+3$de$($g$)/($s$)$

: : m$=+0\mathrm{.}1$km

vec$($V$)\_($P$)^($I$)=$vec$($V$)\_($Q$)^($I$)+$vec$($V$)\_(($R$)/($Q$))^($M$),+$vec$(\backslash$omega $)\_(($M$)/($I$))\backslash$times vec$($R$)\_(($R$)/($Q$))$

$+$vec$(\backslash$omega $)\_(($B$)/($I$))\backslash$times vec$($R$)\_(($P$)/($R$))$

vec$($A$)\_($P$)^($I$)=$vec$($A$)\_($Q$)^($I$)+$vec$($A$)\_(($R$)/($Q$))^($M$)+$vec$(\backslash$omega $)\_(($M$)/($I$))^()^($M$)\backslash$times vec$($R$)\_(($R$)/($Q$))+$vec$(\backslash$omega $)\_(($M$)/($I$))\backslash$times $($vec$(\backslash$omega $)\_(($M$)/($I$))\backslash$times vec$($R$)\_(($R$)/($Q$)))$

$+2$vec$(\backslash$omega $)\_(($M$)/($I$))\backslash$times vec$($V$)\_(($R$)/($M$))^($M$)+$vec$(\backslash$omega $)\_(($B$)/($I$))^()^($B$)\backslash$times vec$($R$)\_(($P$)/($R$))+$vec$(\backslash$omega $)\_(($B$)/($I$))\backslash$times $($vec$(\backslash$omega $)\_(($B$)/($I$))\backslash$times vec$($R$)\_(($P$)/($R$)))$

avec$($V$)\_($P$)^($P$)$k$($m$)/($s$),$ inertial frame componentsvec$($A$)\_(($P$)/($Q$))=$vec$(0),$ compute required acceleration vector $,$ moving frame componentsr$^()(($m$)/($s$^(2)))$ and $\backslash$phi $^()($ra$($d$)/($s$^(2))).$

Note: Consider using the relative description of planar rigid body kinematic motion, since this system exhibits all the features suited for that framework.