The circular cam is driven by link 2 at a constant angular velocity 2 = 15 rad/s

The circular cam is driven by link 2 at a constant angular velocity ω2 = 15 rad/s ccw. Link 3 is rotating at a constant angular velocity ω3 = 5 rad/s cw, causing slipping at point C. Determine:

(a) the first- and second-order kinematic coefficients of the mechanism;

(b) the angular velocity and acceleration of link 4; and

(c) the velocity of slipping at point C.