Problem 3 [25 pts] Do not use the kinematic expansions for this problem. The pipe shown in the figure below is attached to a bar that rotates at a constant angular rate w about a vertical line passing through point O and fixed in the ground. The pipe rotates about point O through an angle o (rotation axis contained in the horizontal plane passing through O). The small ball P is moving along the pipe with a constant speed v. Find an expression for a where frame e is fixed in the ground. PIPE O P TITTITIT TITTTO