Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_4

7/4 The rotor and shaft are mounted in a clevis which can rotate about the $z$-axis with an angular velocity $\Omega$. With $\Omega = 0$ and $\theta$ constant, the rotor has an angular velocity $\omega_0 = -4\mathbf{j} - 3\mathbf{k}$ rad/s. Find the velocity $\mathbf{v}_A$ of point $A$ on the rim if its position vector at this instant is $\mathbf{r} = 0.5\mathbf{i} + 1.2\mathbf{j} + 1.1\mathbf{k}$ m. What is the rim speed $v_B$ of any point $B$?