Question: In Figure, link AB is a uniform bar of mass m, and link BC is a uniform bar of mass M. The moment of inertia for the collar at D is negligible. Link AB's rotational speed is constant in the counter clockwise direction. Friction is negligible.
Tasks: (a) Select coordinates and state the kinematicconstraint relationships.
(b) Draw the required free-body diagrams.
(c) Obtain the equations of motion for each body.
(d) Develop the system governing equations of motion and place the equations for your unknowns in matrix format
