Rod AB is attached to collars at its ends by using ball-and-socket joints. If collar A moves along the fixed rod with a velocity v_A and has an acceleration aA at the instant shown, determine the angular acceleration of the rod and the acceleration of collar B at this instant. Assume that the rod’s angular velocity and angular acceleration are directed perpendicular to the axis of the rod.

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Given: ft VA 8- = S aA = 4 ft 2 S