Meriam, Kraige & Bolton — Introduction to Three-Dimensional Dynamics of Rigid Bodies: Problem 7_61

7/61 The uniform circular disk of Prob. 7/42 with the three components of angular velocity is shown again here. Determine the kinetic energy $T$ and the angular momentum $\mathbf{H}_O$ with respect to $O$ of the disk for the instant represented, when the $x$-$y$ plane coincides with the $X$-$Y$ plane. The mass of the disk is $m$. Reference Data from Prob. 7/42: - The thin circular disk has mass $m$ and radius $r$. - It is rotating about its own $z$-axis with a constant angular velocity $p$ relative to the yoke. - The yoke rotates about the $x$-axis through $B$ (the yoke hinge) with a constant angular velocity $\omega_1$ relative to the assembly. - The entire assembly rotates about the fixed vertical $Y$-axis through $O$ with a constant angular velocity $\omega_2$. - The center of the disk $B$ is located a distance $b$ from the vertical $Y$-axis along the arm $OB$ which lies on the moving $y$-axis.