The body AB and rod BC of the robotic component shown rotate at the constant rate ω1 = 0.60 rad/s about the Y axis. Simultaneously a wire-and-pulley control causes arm CD to rotate about C at the constant rate ω = db/dt = 0.45 rad/s. Knowing ß = 120°, determine (a) the angular acceleration of arm CD, (b) the velocity of D, (c) the acceleration of D.
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