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Finding angular and relative velocity

Assignment:

Pin P is attached to the wheel shown and slides in a slot cut in bar BD. The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 480 mm when theta = 0, determine the angular velocity of the bar and the relative velocity of pin P with respect to the rod for the given data.

a) theta = 0, b) theta = 90 degrees
theta = 30 degrees

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