1. The problem statement, all variables and given/known data "Represent (linear) acceleration of center of mass of link OA in terms of variables shown." OmegaOA is given to be some constant value, I have assigned it 'omegaOA'. 2. Relevant equations Already derived equations to previous parts of the problem, fairly certain these are correct. Relative variables are neglected, since this is a single body problem. 'a' is linear acceleration, alpha is angular acceleration. omegaAB = (omegaOA*b*cos(theta))/sqrt(d^2 - (b*sin(theta) + h)^2) alphaOA = 0 alphaAB = [-(omegaOA^2)*b*sin(theta) - (omegaAB^2)*(b*sin(theta)+h)]/sqrt(d^2 + (b*sin(theta) + h)^2) alphaOA = (a/r) 3. The attempt at a solution If the weight (mg) of the rod was the only force acting on the rod, the problem is very simple. I*alpha = torque where I = (1/12)*m*length^2 Mass cancels and the problem is easy to solve. However, I am guessing there are force vectors at A that need to be taken into account. Any help would be appreciated.