In manipulating the dumbbell, the jaws of the roboticdevice have an angular velocity p =

Chapter 7, Problem 7/14

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In manipulating the dumbbell, the jaws of the robotic device have an angular velocity \(\omega_{p}=2 \mathrm{rad} / \mathrm{s}\) about the axis OG with \(\gamma\) fixed at 60°. The entire assembly rotates about the vertical Z-axis at the constant rate \(\Omega=0.8 \mathrm{rad} / \mathrm{s}\). Determine the angular velocity \(\omega\) and angular acceleration \(\alpha\) of the dumbbell. Express the results in terms of the given orientation of axes x-y-z, where the y-axis is parallel to the Y-axis.

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