g PROBLEM 4 e,m Ja As shown in the figure, the rod AB of length and mass m is attached to a roller of negligible mass. The roller moves freely along the incline. The moment of inertia of the bar is Izz. The position vector of point A can be expressed as r = XA Ex- Place a corotational basis on the rod and define the kinematics (F, V, a, w, ) of the problem (Hint: F = r+ (Fra)). Determine the kinetic energy of the system. (i) (ii) (iii) Provide a free-body diagram. (iv) By applying the balance laws, determine the equations of motion.