# Example 17.2
om = [0, 0, -10] rad/s
rba = [0.4, 0.4] m
vb = cross(om, rba)
BEGIN
  ombc[3] = 1 rad/s
  rcb = [0.8, -0.4] m
  vc = vb + cross(ombc, rcb)
END
solve(vc[2], ombc[3])


# Example 17.3
FPS
omab[3] = -10 rad/s
rba = [0.5, 1, 0] ft
vb = cross(omab, rba)
rcd = [-0.5, 0.833] ft
BEGIN
   omcd[3] = 1 rad/s
   vc1 = cross(omcd, rcd)
   ombc[3] = 1 rad/s
   rcb = [1.333, -0.167, 0] ft
   vc2 = vb + cross(ombc, rcb)
   err = vc1 - vc2
END
solve(err[1], err[2], omcd[3], ombc[3])
vr = 0.5 ft * mag(omcd)

# Example 17.6
omab[3] = 10 rad/s
rba[2] = 2 m
vb = cross(omab, rba)
BEGIN
   ombc[3] = 1 rad/s
   omcd[3] = 1 rad/s
   rcd = [-2, 2] m
   vc1 = cross(omcd, rcd)
   rcb = [2, 0] m
   vc2 = vb + cross(ombc, rcb)
   err = vc1 - vc2
END
solve(err[1], err[2], ombc[3], omcd[3])
alpab[3] = -300 rad/s^2
ab = cross(alpab, rba) - mag(omab)^2 * rba
BEGIN
   alpbc[3] = 1 rad/s^2
   alpcd[3] = 1 rad/s^2
   ac1 = cross(alpcd, rcd) - mag(omcd)^2 * rcd
   ac2 = ab + cross(alpbc, rcb) - mag(ombc)^2 * rcb
   err = ac1 - ac2
END
solve(err[1], err[2], alpbc[3], alpcd[3])


# Example 17.7
omab[3] = 2 rad/s
rab = [0.8, 0.4, 0] m
beta = atan(0.4 / 0.8)
eb = PolarVec(1, beta)
rac = [0, 0.4] m
BEGIN
  varel = 1 m/s
  omac[3] = 1 rad/s
  va1 = varel * eb + cross(omab, rab)
  va2 = cross(omac, rac)
  err = va1 - va2
END
solve(err[1], err[2], varel, omac[3])
alpab[3] = 10 rad/s^2
BEGIN
  aarel = 1 m/s^2
  alpac[3] = 1 rad/s^2
  aa1 = aarel * eb + 2 * cross(omab, varel * eb) \
     + cross(alpab, rab) - mag(omab)^2 * rab
  aa2 = cross(alpac, rac) - mag(omac)^2 * rac
  err = aa1 - aa2
END
solve(err[1], err[2], aarel, alpac[3])


# Example 17.9
beta = asin(350 / 500)
rba = [0.5 + 0.5 * cos(beta), 0.35] m
omab[3] = 1 rad/s
vb1 = cross(omab, rba)
rbc = [-(0.5 - 0.5 * cos(beta)), 0.35] m
eb = [-sin(beta), cos(beta)]
BEGIN
   vbrel = 1 m/s
   ombc[3] = 1 rad/s
   vb2 = vbrel * eb + cross(ombc, rbc)
   err = vb1 - vb2
END
solve(err[1], err[2], vbrel, ombc[3])
ab1 = mag(omab)^2 * rba
BEGIN
  abrel = 1 m/s^2
  alpbc[3] = 1 rad/s^2
  ab2 = abrel * eb + 2 * cross(ombc, vbrel *eb) + cross(alpbc, rbc) - mag(ombc)^2 * rbc
   err = ab1 - ab2
END
solve(err[1], err[2], abrel, alpbc[3])



# Example 17.11
rab = [420.0, 236.2, 212.0] m
varel = [-53.1, 2.0, 6.6] m/s
aarel = [0.4, -0.2, 13.0] m/s^2
vb = [15, 0] m/s
om = [0, 5 deg/s, 0]
va = vb + varel + cross(om, rab)
ab[3] = mag(vb) * mag(om)
aa = -ab + aarel + 2 * cross(om, varel) + cross(om, cross(om, rab))



# Example 17.13
rab = [5, 2, 12] m
varel = [1, -2, 7] m/s
m0 = 0.056 kg
w[2] = -m0 * grav()
ab = [1.1, 0, 0.07 ] m/s^2
om[2] = 0.1 rad/s
aarel = w / m0 - ab - 2 * cross(om, varel) - cross(om, cross(om, rab))



# Homework Problems:

TBD