Plate ABD and rod OB are rigidly connected and rotate about the ball-and-socket joint O with an angular velocity ω = ωxi + ωxj + ωzk. Knowing that vA = (80 mm/s)i + (360 mm/s)j + (vA)z k and ωx = 1.5 rad/s, determine (a) the angular velocity of the assembly, (b) the velocity of Point D.

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