The linkage consists of two rods AB and CD each of weight W₁ and bar AD of weight W₂. When θ = 0, rod AB is rotating with angular velocity ω_O. If rod CD is subjected to a couple moment M and bar AD is subjected to a horizontal force P as shown, determine ωAB at the instant θ = θ₁.

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Given: W₁ = 8 lb W₂ = 10 lb 000 = 2 rad S P = 20 lb 8 = 32.2 a = 2 ft b = 3 ft 91 = 90 deg M = 15 lb-ft WAR I M