Engineering Mechanics - DynamicsChapter 20Problem 20-46At the instant shown, the base of the robotic arm is turning about the zaxis with angular velocity ω1,which is increasing at '1. Also, the boom segment BCis rotating with angular velociyBC which isincrasing at 'BC. Determine the velocity and acceleration of the part Cheld in its grip at this instant.Given:14rads='13rads2=BC8rads='BC2rads2=a0.5 m=b0.7 m=Solution:ω0BC1⎛⎜⎜⎝⎞⎟⎟⎠=α1−BC'BC'1⎛⎜⎜⎜⎝⎞⎟⎟⎟⎠=rb00⎛⎜⎜⎝⎞⎟⎟⎠=vCωr×=vC02.85.6−⎛⎜⎜⎝⎞⎟⎟⎠ms=aCαr×ωωr×()×+=aC56−2.11.4−⎛⎜⎜⎝⎞⎟⎟⎠ms2=Problem 20-47The load is being lifted upward at a constant rate
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