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A X B acceleration angle angular speed angular velocity applied assume axes axis B X C beam center of mass coefficient of friction coefficient of restitution components compute consider constant coordinates couple cylinder denote derivative diameter direction cosines displacement distance equal equation equivalent Example EXERCISES expression external forces Find fixed force F forces acting formula frame ft-lb ft/sec function given gravitational hence horizontal inertia instantaneous integral isolate kinetic energy length line of action magnitude maximum mechanics molecules momentum motion normal origin oscillation parallel particle pendulum perpendicular position vector potential energy problems rad/sec radius of gyration result rigid body rotation scalar product shear Show shown in Fig simple harmonic simple harmonic motion Solution sphere spring strain stress tangential tension theorem tion uniform unit vector vector product vertical wave weight wheel xy plane zero