How to determine position vector.

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aspiringenius
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Hi guys.I n moment,Im confused as to how to determine the signs that go next to the position vector.On what thing do they depend?Do we take the position vector from point of application of force to axis of rotation or otherwise?EDIT:If I am not being specific enough please say so guys.I really need to know this.
 
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More detail please. google Kanes notation.
 

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