Problem 2. Consider the ring with radius D 100mm that is attached to a pin support at point A, as shown in Fig. 2. At the instant shown, the ring rotates with an angular velocity of! D 8k rad/s and an angular acceleration of D 4k rad/s. Furthermore, at the same instant, the collar B is attached to the bottom of the ring and moves to the left with a speed of 4 m/s, which is increasing at a rate of 1 m/s, relative to the ring. The local reference frame is attached to the pin support at point A and rotates with the ring. Employ the concepts of relative velocity and relative acceleration to find the numerical values of the following velocities and accelerations at the instant shown (for which the local frame coincides with the inertial frame). a) Determine the relative velocity vector vrel of collar B as seen from the rotating local reference frame at point A. b) Use the result found in Part a) to determine the linear velocity vector vg expressed in terms of VA- c) Determine the relative acceleration vector arel of collar B as seen from the rotating local reference frame at point A. d) Use the result found in Part c) to determine the linear acceleration vector ag expressed in terms of a. 250 mm ,a 100 mm Figure 2: A collar attached to a ring that is attached to a pin support and measurements.