Problem #$4$:

The figure below shows some kind of mechanism. The shaft $(S)$ rotates relative to $N$

about the $n_{{?}_{?}}(2)$ axis at a rate of ${}_1,$ as shown. The disk $($D$)$ rotates relative to $S$ about the $s_3$

axis at a rate of ${}_2,$ as shown. At time $t=0,q_1=q_2=0$ and $n_{{?}_{?}}(1)=s_{{?}_{?}}(1)=d_{{?}_{?}}(1).$

The point $P$ lies on the edge of the disk $($the position vector from the center of the disk to

$P$ is given by $G{P}_{?}=R{d}_{{?}_{?}}(1)).$

Determine the velocity of $P$ in $N.$

Answer is in the box below