cam follower

> PDEtools[declare](theta(t), prime=t, quiet):

cam frame

> T1 := Rotate('Z',theta(t));

follower frame

> T2 := translate(0,R+e*sin(theta(t)),0);

contact point

> P := make_POINT(ground,e*cos(theta(t)),R+e*sin(theta(t)),0): show(P);

Absolute and relative velocity

absolute velocity of P

> VP := velocity(P): show(VP);

relative velocities

> VP1 := velocity(P,T1): show(VP1);
VP1 := project(velocity(P,T1),ground): show(VP1);

> VP2 := velocity(P,T2): show(VP2);

> VT1 := frame_frozen_velocity(P,T1):
VT1[comps] := map(simplify,VT1[comps]):

> show(VT1);

> VT2 := frame_frozen_velocity(P,T2): show(VT2);

sliding velocity of contact surfaces

> VPS := VT1-VT2: show(VPS);