A long shaft, (representing a section of a vehicle propshaft between the gearbox and the rear differential) shown in Figure Q1b, is supported by two bearings. A principal frame of reference Gxyz is fixed to the vehicle body with its centre at the mass centre of the shaft G, and with principal moments of inertia Ixx, lyy, and Izz. The shaft is spinning with constant angular velocity N= 500 rad/sec when the vehicle goes into a tight corner such that the angular velocity of the vehicle about the y axis is constant at = 2 rad/sec.

i)Determine the angular velocity vector for the frame Gxyz. ii)Obtain the angular velocity vector for the shaft @. iii)Write down the shaft angular momentum vector H about G. iv)Obtain the pitch component mx of the moment vector at G.

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