Rod AB is attached to collars at its ends by using ball-and-socket joints. If collar A moves along the fixed rod with a velocity v4 and has an acceleration a 4 at the instant shown, determine the angular acceleration of the rod and the acceleration of collar B at this instant. Assume that the rod' s angular velocity and angular acceleration are directed perpendicular to the axis of the rod. Given: V4 = 8 ft/s, a 4A = 4 ft/s? , a = 8 ft , b = 5 ft , c = 6 ft , d = 8 ft , e = 6 ft A