6 The small motor M is pivoted about the x-axisthrough O and gives its shaft OA a

Chapter 7, Problem 7/36

(choose chapter or problem)

The small motor M is pivoted about the x-axis through O and gives its shaft OA a constant speed p rad /s in the direction shown relative to its housing. The entire unit is then set into rotation about the vertical Z-axis at the constant angular velocity \(\Omega \mathrm{rad} / \mathrm{s}\). Simultaneously, the motor pivots about the x-axis at the constant rate \(\dot{\beta}\) for an interval of motion. Determine the angular acceleration \(\alpha\) of the shaft OA in terms of \(\beta\). Express your result in terms of the unit vectors for the rotating x-y-z axes.