Due Thursday, See last page for partial answers. W Body 1 t Body 2 Body 3 Problem 1. (2 points) A rod (Body 3) slides through a collar (Body 2) which is held by a rotating fork (Body 1). Body 3 can be treated as a slender rod, while bodies 1 and 2 are massless. Consider the case where end B of the rod must move horizontally. (a) Write the velocity constraint(s) between the coordinates qı = y, q2 = 0, and q3 = XB and write them in the standard form [a]{q} = {b}. (b) Are the constraint(s) holonomic or nonholonomic? Why? XB = B
