Kinematic issue

  • Thread starter azizz
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Hey,
For a school project we have a construction as indicated in the attached figure.

The idea is that point A is able to move in 3 degrees of freedom, but the position, velocity and acceleration of this point is known. The length ||A-P1|| is fixed and is connected to a bell crank that is able to rotate about the y axis only (with the center of rotation located in C). The length between P2 and B can change (its an actuator). Point B is fixed.

Now I'd like to compute the velocity of the actuator given the velocity of point A.

I have difficulties to setup the correct equation. Mainly because I dont know how to obtain a correct equation of, for example, the angle of the bell crank. Can someone help me with a initial setup of the equations?

Thx in advance.
 

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