Which of the Hibbeler textbook are you using? (14th and 15th are most common)
: Relates the position of a point or the angular position of a line to a fixed reference to find velocity and acceleration through differentiation. Relative Motion Analysis (Velocity) : Uses the vector equation to find the velocity of one point relative to another. Instantaneous Center of Zero Velocity (IC) Hibbeler Dynamics Chapter 16 Solutions