1. The problem statement, all variables and given/known data A certain machine can be modeled as a wheel between two translating bodies. Point P is on the upper translating body and is moving to the left at 6m/s and Point Q is on the lower translating body and is moving to the right at 3 m/s. The radius of the wheel is .3m. Find the velocity at the center of the wheel and velocity at point B. Assume that the wheel is not slipping on the translating bodies (I didn't get the translating bodies labled on the diagram, but they are the two surfaces that the wheel is between. 2. Relevant equations Vc = r ω VB = V0 + Vrel + ω x r 3. The attempt at a solution Using the relative velocity between two different frames equations, I got the velocity of the center at -3m/s i, but I my answer for the velocity of B wasn't correct, and I'm not sure where I'm erring. My interpretation is: Since the wheel is not slipping, the point of contact is moving at the same velocity as the translating body. Looking at the upper body, P is moving at -6m/s. This should be equivelent to a wheel rolling on a fixed plane at 6m/s, ω = 6/-0.3 or 20 radians/second counterclockwise. So I'm getting a velocity of B = -3i -6j The problem is in a unit focusing on the kinematics of motion of solid bodies between two different frames. For full disclosure, the problem was on a quiz that I passed, but missed this question. The instructor doesn't release solutions because people can take the test at different times. Thanks in advance.