At a given instant, the crane is moving along the track with a velocity v_CD = 8 m/s and acceleration of 9 m/s². Simultaneously, it has the angular motions shown. If the trolley T is moving outwards along the boom AB with a relative speed of 3 m/s and relative acceleration of 5 m/s², determine the velocity and acceleration of the trolley.

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VCD = 8 m/s acD = 9 m/s² 3 m = W 0.4 rad/s @ = 0.6 rad/s² N w₁ = 0.5 rad/s ₁ = 0.8 rad/s² A D T B