...
where Va is BLUE, Vb is GREEN and Vc is the vector from A to B.
Position Analysis
After using Euler's equation and splitting the equation into real and imaginary components, we get the following result:
...
Since θC = 0, that simplifies two terms in both real and imaginary equations. Finally, we can solve both of the equations and we get:
Velocity Analysis
To find velocities, I started with the initial vector loop equation and took the derivative with respect to time. Then, I followed similar steps to position analysis to get the real and imaginary components, as shown below.
Since thetaC is equal to 0, we can simplify the equation and solve for the pertinent variables. The final solution is shown below.
