Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_34

7/34 The robot of Prob. 7∕15 is shown again here, where the coordinate system x-y-z with origin at $O_2$ rotates about the X-axis at the rate $\dot{\theta}$. Nonrotating axes X-Y-Z oriented as shown have their origin at $O_1$. If $\omega_2 = \dot{\theta} = 3 \text{ rad/s}$ constant, $\omega_3 = 1.5 \text{ rad/s}$ constant, $\omega_1 = \omega_5 = 0$, $O_1O_2 = 1.2 \text{ m}$, and $O_2 A = 0.6 \text{ m}$, determine the velocity of the center $A$ of the jaws for the instant when $\theta = 60^\circ$. The angle $\beta$ lies in the y-z plane and is constant at $45^\circ$.