1. The problem statement, all variables and given/known data Rod AB rotates with the angular velocity and acceleration CCW as shown. Points A and D are pin connected. The collar C is pin connected to the link CD and slides over the link AB. At the instant shown the link CD is vertical and the link AB has an angular velocity of 2 rad/s, and an angular acceleration of 4 rad/s2 determine, 1) The angular velocity of link CD 2) The relative velocity of point C with reference to A 3) The velocity of point C 4) The angular acceleration of link CD 5) The relative acceleration of point C with reference to A 6) The acceleration of point C http://imgur.com/6lTfnYV --> Here is a picture of the question so you can see what the mechanism looks like. 2. Relevant equations v = ωr (1) an = ω2r (2) at = αr (3) vb = va + vb/a (4) ab = aa + ab/a (5) Coriolis Accel. eqn acorn = -2ω(vb/a t) (6) acort = 2ω(vb/a n) (7) 3. The attempt at a solution Since this solution involves drawing various vectors I will include a picture of my work to help make things a bit easier. All of my work is in this picture as well so you can either look at my work their or at what I have written below. http://imgur.com/PAjUJoh,4PSWKHt VELOCITY ANALYSIS First off I started with the velocity analysis and drew where I thought the velocity vectors of each point would be. From my vectors vc, vc', and vc/c' I found, vc' = vc cos 30 = 1.386 m/s vc/c' = vc sin 30 = 0.8 m/s next I found my angular velocity of CD, ωCD = vc' / rCD = 4.62 rad/s ACCELERATION ANALYSIS I started off by writing down all the relevant equations acn = rAC ωAC2 act = rAC αAC ac'n = rCD ωCD2 ac't = rCD αCD ac/c'n = ? ac/c't = ? acorn = -2ωCD(vc/c'n) acort = 2ωCD(vc/c't) What I am stuck on is that I don't know where my vectors are supposed to go. I'm not sure what I've done wrong and don't really know where to go from here.