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Problem 2. Collars A and B are pinned to the bar that is welded to sphere C. A servomotor acting about the pin in collar A applies torque ? to bar AC and force F is applied to collar B with the result that collar A moves downward at a constant specified speed v. The system rotates freely about the vertical axis, so the precession rate ?2 is unknown, but the spin rate is held at a constant value by another servomotor. The mass m of the sphere is sufficiently large to neglect the inertia of the other parts. 53.13

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NOTE - ONLY DERIVATION OF EQUATIONS IS ASKED, SO SOLUTION OF THE EQUATIONS NOT DONE. TO SOLVE COUPLED ORDINARY DIFFERENTIAL EQUATIONS IS A STANDARD ENGINEERING MATHEMATICS PROBLEM AVAILABLE IN ANY STANDARD TEXTBOOK, OR ELSE SOLUTION CAN BE DONE BY SOFTWARES LIKE MATLAB. GENERALLY TO SOLVE THESE GOVERNING EQUATIONS OF MOTION I USE 4TH ORDER RUNGE KUTTA METHOD AVAILABLE AS ode45() FUNCTION IN MATLAB.

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