Problem 3 The linkage shown lies in the horizontal plane. End A of the bar follows the horizontal guide, and a wheel at B is aimed at an angle b that is a specified function of time. The wheel rolls without slipping over the ground so that the velocity vB must be in the direction indicted in the diagram. Generalized coordinates are selected to be the horizontal position xA and the rotation angle q. a. Determine the velocity constraint relating these variables. b. Is the constraint holonomic or non-holonomic, prove! c. Obtain the equations of motion for this system. UB XA B