Question: In Figure, the slender bar of length 2l and mass m is attached to a circular smooth bar at A by a collar of negligible mass. Point B of bar
AB is in contact with the horizontal plane. The coefficient of dynamic friction at the contact point B is μd.
Tasks: (a) Select coordinates and state the kinematicconstraint relationships.
(b) Draw the required free-body diagram and state your unknowns.
(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.