... XYZ frame are Ỉ = v1 = [20k] rad>s x # # v = v1 = [5k] rad>s2 vA = v1 * rOA = (20k) * (1j) = [-20i] m>s and # aA = v1 * rOA + v1 * (v1 * rOA) = (5k) * (1j) + (20i) * C (20i) * (1j) D = [-5i -... (vB>A)xyz = ( -20i) + (20k) * (6j) + (30k) Ans and # aB = aA + Ỉ * rB>A + Ỉ * (Ỉ * rB>A) + 2Ỉ * (vB>A)xyz + (aB>A)xyz = ( -5i - 400j) + (5k) * (6j) + (20k) * C (20k) * (6j) D + 2(20k) * 30k + (... x # # v = v1 = [5k] rad>s2 Ỉ = v1 = [20k] rad>s vA = v1 * rOA = (20k) * (1j) = [-20i] m>s and # aA = v1 * rOA + v1 * (v1 * rOA) = (5k) * (1j) + (20k) * [(20k) * (1j)] = [-5i - 400j] m>s2 In order