When the crank on the Chinese windlass is turning, the rope on shaft A unwinds while that on shaft B winds up. Determine the speed of block D if the crank is turning with an angular velocity ω. What is the angular velocity of the pulley at C? The rope segments on each side of the pulley are both parallel and vertical, and the rope does not slip on the pulley.

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Given: (0 = 4 rad S rc = 50 mm ΤΑ = 75 mm rB = 25 mm