Crank BC oscillates a limited arc, causing OA to oscillate about O. When CB is horizontal, OA is vertical and the angular velocity of BC is 2 rad/sec CCW. Find The angular velocities and angular accelerations of AB and OA.
Link BC:
Vb = Vc + V b/c = r cb *ω b/c = (-75 i)* (2 k) = -150 j
Vb= -150j
link AO:
Va = Vo + Va/o = roa * ω a/o =(100 j)*(ω a/o k) = -100 ω a/o i
link BA:
Vb = Va - V b/a = -100 ωa/o i - r a/b * ω b/a k
-150 j = -100ω a/o i -50ω b/a i -175ω b/a j
solving by J and i components i end up with ω a/o = -.42855 rad/s
and ω b/a = -.8571 rad/s
I just need help with the acceleration formulas !