The pendulum oscillates about the x-axis according to = /6 sin 3t radians, where t is the time in seconds. Simultaneously, the shaft OA

The pendulum oscillates about the x-axis according to θ = π/6 sin 3πt radians, where t is the time in seconds. Simultaneously, the shaft OA revolves about the vertical z-axis at the constant rate w_z = 2π rad/sec. Determine the velocity v and acceleration a of the center B of the pendulum as well as its angular acceleration a for the instant when t = 0.

Oz 4" A 8"