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At the instant shown, the robotic arm ABC is being rotated simultaneously at the constant rate ω1 = 0.15 rad/s about the y axis, and at the constant rate ω2 = 0.25 rad/s about the z axis. Knowing that the length of arm ABC is 1 m, determine (a) the angular acceleration of the arm, (b) the velocity of point C, (c) the acceleration of point C.
Fig. P15.198
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