Given the following two-dimensional (planar) setup, the cart moves one-dimensionally and it carries a bar that pivots within the plane. A particle P is rolling on the bar and we are interested in finding kinematic expressions regarding particle P. Some quantities has been defined for you in advance: r is the horizontal distance from the ground fixed wall, y is P's distance relative to the pivot point, and angle measures the bar's angular position with respect to the right horizontal. (a) Define an inertial frame e in a way that you think will help you find kinematic expressions of particle P. You are free to define any additional quantities or frames. (b) Write P's position expressed using e frame. What is your choice for the base point of P's position vector if we are interested in obtaining the kinematic expressions of its generic velocity and generic acceleration? (c) Assume general motion of the setup, meaning r is accelerating or exists, and simi- larly for y and 0. Obtain the kinematic expressions of P's generic velocity and generic acceleration, i.e. u or equivalently, and a or equivalently "a".