# which a disk A of radius r rotates about a fixed vertical axis with angular displacement q1.

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## Question:

- which a disk A of radius r rotates about a fixed vertical axis with angular displacement q1. A bar B of length h is pinned to A such that the axis of rotation is a radial line of A. (Note this is a different pinning between disk and bar than you considered in the first exam). Let q2 designate the angular displacement of B relative to the vertical as shown. Let us consider the case in which both A and B are massless, but the particle P at the end of B has mass m.
- Determine equations that govern the motion of this system. Define generalized speeds u1 = ˙q1 and u2 = ˙q2.
- Determine both the kinematical differential equations and the dynamical differential equations.

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