The 400-mm bar AB is made to rotate at the rate 2 = d / dt with

The 400-mm bar AB is made to rotate at the rate ω2 = dθ / dt with respect to the frame CD which itself rotates at the rate ω1 about the Y axis. At the instant shown ω1 = 12 rad/s, dω1 / dt = -16 rad/s2, ω2 = 8 rad/s, dω2/dt = 10 rad/s2, and θ = 60°. Determine the velocity and acceleration of point A at this instant.

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200 mm 200 mm