0=W P A 3D point-mass model of the passenger compartment in the popular Dumbo ride at Magic Kingdom is a spherical-pendulum bob of mass m in which the constant angular rates ? and w are controlled by motors. Consider the spherical coordinates (r, 0, 6)z, where r = / is constant, and the spherical reference frame B = (O, es, es, er). (a) Use the angular velocity of frame B with respect to I to compute the inertial derivatives of the unit vectors of B. (b) Derive the inertial kinematics of mass P, and express it as components in frame B. (c) Draw a free-body diagram of the forces acting on P, and find the tension in the pendulum rod as a function of m, l, w, 0, d, and g