(Solved): A motor on the shaft through A rotates AB with clockwise constant angular velocity AB 2 rad/s. ...

A motor on the shaft through A rotates AB with clockwise constant angular velocity ?AB ? 2 rad/s. The gear has radius R = 1 m. 1. At the time instant shown in Figure 2, when AB makes the angle ? with the vertical direction: (a) Sketch the path of G and the path of relative sliding of G with respect to AB on the figure. (b) Write coordinate-free velocity equations to model the motion of the mechanism. Prove that your velocity equations completely model the motion of the mechanism. (c) Determine the algorithm to compute the angular velocity of the gear. (d) Write coordinate-free acceleration equations to model the motion of the mechanism. Prove that your acceleration equations completely model the motion of the mechanism. (e) Determine the algorithm to compute the angular acceleration of the gear. 2. Use MATLAB to compute and plot the angular velocity and angular acceleration of the gear as AB rotates through ? ? [?/6 , ?/3 ] rad. Figure 2: A planar mechanism with motion commanded by a motor on the shaft through A.