Suggestions:- Attach observer to link OAB.
- Use O as the reference point in the relative velocity and acceleration equations. Note that O is a legitimate reference point since it is on the same rigid body as the observer. It is also a convenient choice since O is a stationary point (v_O = a_O =0).
- With this choice of observer, (v_B/O)_rel = (a_B/O)_rel = 0.
- Note that the theta_dot component of omega is in the negative x-direction (moving axis).
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