and where

Differentiating equation (23) with respect to time yields a di-rectly. Having computed a and a, fa and ra can now be obtained from ra = raa (24) ''a = W + raOi2 (25) Thus in equations (15) and (16) every variable has been de-fined. Therefore angular velocity and acceleration can be com-puted. Flat-Face Follower Case. Consider Fig. 3 again, with angle y now shifted to point P. W. Era 6 sin