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A particle whose position at time t is determines by the vector: r ( t ) = 2 sin t i - 2 cos t

A particle whose position at time t is determines by the vector:

r ( t ) = 2 sin t i - 2 cos t j + 2 t k

When t = 3π, find the velocity, speed and acceleration of the particle.

Find the arc length, where 0 ≤ t ≤ 3π.

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