% 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
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).
% Define rotation matrices
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_C_T>=V*C1> % Not specified in the solution manual but true
% Kinematic information observed