6. Figure 6 shows a planar mechanism where the motion of pin P is guided by slots that were cut into rods AD and BE. The semi-circular rod AD has a 150 mm radius of curvature, and rotates clockwise at a constant angular velocity of 4 rad/s. The straight rod BE has an angular velocity of 5 rad/s counterclockwise and is slowing down at a rate of 2 rad/s at the instant shown. Note that, at the instant shown, the velocity of pin P relative to the slot in rod AD is vertical. a) What is the velocity of pin P at the position shown? b) Determine the acceleration of pin P at that instant. D E 150mm P A 100mm 300mm 150mm B Figure 6: Two rods mechanism (not to scale) [10 marks] [10 marks]