1. The problem statement, all variables and given/known data 2. Relevant equations Va = Vb + Va/b Va = Vb + (wab x ra/b) 3. The attempt at a solution OK so here is part of my solution: My velocity for B is correct according to the book. But I'm confused about D. The only problem here is that the velocity of D only has an i component, no j component. How do we know that and why is that? Also, how come the velocity of D isn't zero since it's a fixed point?