Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_25

7/25 The solid cylinder has a body cone with a semi-vertex angle of $20^\circ$. Momentarily the angular velocity $\boldsymbol{\omega}$ has a magnitude of 30 rad/s and lies in the $y$-$z$ plane. Determine the rate $p$ at which the cylinder is spinning about its $z$-axis and write the vector expression for the velocity of $B$ with respect to $A$.