Ok, so the problem is here: http://polaris.deas.harvard.edu/galileo/images/material/1722/477/PracticeProblems.pdf [Broken] It's number 14. I get Vp as 16.74 using the equation Vb = Va + (omega)ab cross (position vector)b/a, i found Vb as 12.56i-12.56j Then i use Vp = Vb + (omega)bp cross (position vector)p/b. Computing i get 16.74 in/s, when it should be 55.9 in/s. HELP! Thanks much!