The mechanism has rolling contact at point A, but there can be slipping at point B. Link 2 has a constant angular velocity of ω2 = 20 rad/s ccw, and link 3 has an angular velocity ω3 = 5 rad/s cw and an angular acceleration of α3 = 2 rad/s2 ccw.

Determine:

(a) the first- and second-order kinematic coefficients of link 5; and

(b) the angular velocity and angular acceleration of link 5.