𝑏(𝑏 − 1) 4(4 − 1)

𝐶= = =6
2 2
 𝑣𝐴 = 𝜔
⃗⃗⃗⃗ ⃗⃗⃗⃗𝐴
⃗⃗⃗⃗⃗2 𝑥𝑅
2∗𝜋
|𝑣
⃗⃗⃗⃗𝐴 | = 1300 ( ) 𝑟𝑎𝑑/𝑠𝑥2.15𝑐𝑚
60
|𝑣
⃗⃗⃗⃗𝐴 | = 292.69 𝑐𝑚/𝑠
𝑣𝑅 292.69
𝐾= = = 146.345
𝑣𝐷 2

𝑣𝐵 = ⃗⃗⃗⃗
⃗⃗⃗⃗ 𝑣𝐴 + ⃗⃗⃗⃗⃗
𝜔3 𝑥𝑅 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐵∕𝐴

0 1 0
|𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 | (0) 𝑥|𝑅 𝐵∕𝐴 | (0 ) = |𝜔
⃗⃗⃗⃗⃗
3
⃗⃗⃗⃗⃗⃗⃗⃗⃗
||𝑅 𝐵∕𝐴 | (1)
1 0 0
|𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 ||𝑅 𝐵∕𝐴 | = 1.08 ∗ 𝑘 = 1.08 ∗ 146.345

|𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 ||𝑅 𝐵∕𝐴 | = 158.78𝑐𝑚/𝑠

158.78𝑐𝑚/𝑠 158.78𝑐𝑚/𝑠
|𝜔
⃗⃗⃗⃗⃗3 | = =
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 𝐵∕𝐴 |
4.8cm

|𝜔
⃗⃗⃗⃗⃗3 | = 33.09𝑟𝑎𝑑/𝑠

𝑣𝐵 = 2.15 ∗ 𝐾 = 315.07𝑐𝑚/𝑠
⃗⃗⃗⃗
 ⃗⃗⃗⃗⃗
𝐴𝐵 = ⃗⃗⃗⃗
𝐴𝐴 + ⃗⃗⃗⃗
𝛼3 𝑥𝑅⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐵∕𝐴 + 𝜔⃗⃗⃗⃗⃗3 𝑥(𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 𝑥𝑅 𝐵⁄𝐴 )

2
⃗⃗⃗⃗⃗⃗⃗
|𝐴 ⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝐴𝑛 | = |(𝜔2 )| 𝑥|𝑅𝐵∕𝐴 |

2∗𝜋
⃗⃗⃗⃗⃗⃗⃗
|𝐴 𝐴𝑛 | = (1300 ( ) 𝑟𝑎𝑑/𝑠)2 𝑥2.15𝑐𝑚
60
⃗⃗⃗⃗⃗⃗⃗
|𝐴 𝐴𝑛 | = 39845.79𝑐𝑚/𝑠
2

𝐴𝑅 39845.79
𝐾= = = 13281.93
𝐴𝐷 3
0 0 −1
|𝜔
⃗⃗⃗⃗⃗3 | (0) 𝑥|𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 ||𝑅 𝐵∕𝐴 | (1 ) = |𝜔
⃗⃗⃗⃗⃗
3 |2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 𝐵∕𝐴 | ( 0)
1 0 0
|𝜔 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗3 |2 |𝑅 2
𝐵∕𝐴 | = 5255.75𝑐𝑚/𝑠 ≈ 0.4𝑐𝑚

0 1 1
|𝛼 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗3 | (0) 𝑥|𝑅 𝐵∕𝐴 | (0 ) = |𝛼
⃗⃗⃗⃗
3
⃗⃗⃗⃗⃗⃗⃗⃗⃗
||𝑅 𝐵∕𝐴 | (0)
1 0 0
|𝛼 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗3 ||𝑅 𝐵∕𝐴 | = 2.65 ∗ 𝐾 = 2.65 ∗ 13281.93 = 35227.09𝑐𝑚/𝑠
2

𝑐𝑚
35227.09
|𝛼
⃗⃗⃗⃗3 | = 𝑠 2 = 7338.98 𝑟𝑎𝑑/𝑠 2
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑅 𝐵⁄𝐴 |

⃗⃗⃗⃗3 | = 7338.98 𝑟𝑎𝑑/𝑠 2

|𝛼

⃗⃗⃗⃗⃗
𝐴𝐵 = 0.83𝑐𝑚 ∗ 𝐾
⃗⃗⃗⃗⃗
𝐴𝐵 = 11102.18𝑐𝑚/𝑠 2