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% Problem 20.6
% This problem covers intermediate reference frames,
% 2 points fixed on a rigid body, and 1 point moving
% on a rigid body
%
% Set up problem
DIGITS 5
DEGREES ON
FRAMES L,A,T,C % A1> vertically upward, A2> to the left, A3> = A1> x A2>
% L is stationary, A rotates away from L about L1> = A1>
% by an angle 4*T, T is positioned relative to A by a 45
% deg rotation about A3> = T3>, and C is rotated away from
% T about T1> = C1> by an angle of 60 deg (or in general
% terms, an angle of (V/1)*T).
POINTS B,Q,P,PP
CONSTANTS V
%
% Define rotation matrices
SIMPROT(L,A,1,4*T)
SIMPROT(A,T,3,45) % Could have taken the 2 direction as well
SIMPROT(T,C,1,(V/1)*T) % Was 60 deg in the solution manual
% since that is the instant under consideration.
% Change (V/1)*T back to 60 to see why DT(V_P_L>,L) may
% not produce A_P_L>.
%
% Kinematic information given
W_A_L>=4*A1>
W_T_A>=0>
W_T_L>=W_A_L>+W_T_A>
ALF_T_L>=0>
V_P_T>=V*C3>
W_C_T>=V*C1> % Not specified in the solution manual but true
%
% Kinematic information observed