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acceleration of point angle 9 angular acceleration angular velocity Application of Eq axes block cable center of mass center of rotation centroidal constant coordinate system cross product curve Determine the equation Determine the solution Determine the velocity differential equation direction disk dot product equation of motion equilibrium Euler's equations EXAMPLE FIGURE force F force polygon forces acting free-body diagram frictional force ft/s gear given by Eq gives gravitational force gyroscopic horizontal ijk system initial conditions instant center kinetic energy length line of action located magnitude matrix mechanism mi/h momentum normal force obtained particle path of motion pendulum position product of inertia rad/s RB/A relative Repeat Prob rigid body shown in Fig shows slider slugs Solving spring Substitution surface tangent tangential components term unit vector velocity and acceleration velocity of point vertical weight wheel xyz system yields zero