(Solved): The diagram shows a pendulum arm, \( B \), of length \( L \), which is pinned by a revolute joint t ...

The diagram shows a pendulum arm, \( B \), of length \( L \), which is pinned by a revolute joint to reference frame \( N \) at point No. Point \( Q \) is fixed to \( C \) at the periphery of the disk. Point \( P \) in fixed in \( N \) and is located vertically below No by a distance \( h \). Angle \( q 1(t) \) measures the angle between unit vectors \( \hat{n}_{y} \) (fixed in \( \mathrm{N} \) ) and \( \hat{b}_{y} \) (fixed in \( \mathrm{B} \) ). Disk \( \mathrm{C} \) of radius \( r \) is pinned by a revolute joint at its center, and is located at the distal end of \( B \). Disk \( C \) can rotate relative to \( B \), and the angle \( \mathrm{q} 2(\mathrm{t}) \) measures the angle between unit vector \( \hat{c}_{x} \) (fixed in C) and unit vector \( \hat{b}_{x} \) (fixed in B). a) Use the definition of velocity to derive an expression for the velocity of \( \mathrm{Co} \) in \( \mathrm{N}, N \vec{v} C o \). b) Use the definition of acceleration to derive an expression for the acceleration of \( \mathrm{Co} \) in \( N, N \vec{a} \), Show your work on your handwork pages, which you will upload to a separate Assignment.