3-35

When looking at the x₂y₂z₂ to x₁y₁z₁ transformation, the first ω is 3i rad/sec
When looking at the x₁y₁z₁ to XYZ transformation, the second ω is 1k rad/sec

After the first transformation, a_Ax1y1z1  is -2.7j m/s

5-35

Use one generalized coordinate, x, which is the vertical displacement of the mass measured from the point where the spring is outstretched.  It is holonomic

unstretched ....

Stretched, h becomes h+x/2.  Is we defined a stretched length of the bottom of the triangle...the stretch of the spring as x moves downward. 

which can be rewritten in terms of l and x.

5-59

The x-equation is:

5-83

The 

ft

ft

I spoke = 5.8 Slug ft ft

for each of six spokes

Mass of flywheel is 195.8 slugs