Homework Hint: Problem 7/19

Suggestions:

• Here the omega vector is made up of two components: omega_1 about the fixed Y-axis and omega_2 about the moving z-axis.
• These two components, omega_1 and omega_2 are NOT independent due to the no-slip condition at point C. From the figure, you can see that v_B = omega_1*R as well as v_B = omega_2*r. From this you can relate omega_1 and omega_2.
• Do the usual differentiation of the omega vector to find alpha taking care to note which rotation axes are fixed and which are stationary.