Consider a body frame B = (O', b1, b2, b3) translating and rotating with respect to an inertial frame I, as shown in Figure 8.23. The instantaneous position of particle P with respect to O' is rp/or = b? 2b2. The velocity of O' with respect to O is voo = 2ex m/s. The angular velocity of B with 010 respect to I is TwB = 3b3 rad/s. a. If P is fixed in B, find the velocity Iv P/O of P with respect to O in 1. b. If P is moving with respect to O' in B at velocity Bvp/0 = 3b2, find the velocity v VP/O of P with respect to O in 1. I ey B P (1,2)8 ?' I b e

I ey B P (1,2) B O X