Question 2a The wheel of radius R = 0.21 meters rolls without slipping. The bar AB of length 0.85 meters is pinned to the edge of the wheel at point "B". Point "A" of the bar drags horizontally along the ground. Use the coordinate system specified in the diagram; the line OB makes an angle 0 with respect to the x-axis, as shown. Watch your plus/minus signs! The centre of the wheel is at the origin of the coordinate system. Suppose = rad =-2 k; = +3.5 rad 5 rak. S IC What is the distance to the instantaneous center of zero velocity of bar AB from point A at this instant? 16 marks] Question 2b Suppose ==-2k; a = +3.5k. Determine the acceleration of point B in x,y coordinates at this instant. [4 marks] Question 2c rad Suppose 0=- -;w= +4 k; = -5rak. Find the angular acceleration a of bar AB in x-y coordinates at this instant. Also find the acceleration of point A in x-y coordinates at this instant. [10 marks]