Problem 16.46

The circular cam rotates about the fixed point O with a constant angular velocity ω.

Part A

Determine the velocity v of the follower rod AB as a function of θ.

Express your answer in terms of the variables θ, d, R, r, and ω.

v =	ωd⎛⎝sinθ+dsin(2θ)2(R+r)2−d2sin2(θ)√⎞⎠