Chapter 15.7, Problem 15.235P

The 400-mm bar AB is made to rotate at the rate ${\omega }_2=d\theta /dt$ with respect to the frame CD that rotates at the rate ω₁ about the Y axis. At the instant shown, ${\omega }_1=12$ rad/s, $d{\omega }_1/dt=-16$ rad/s²,
${\omega }_2=8$ rad/s, $d{\omega }_2/dt=10$ rad/s², and $\theta =60°$ . Determine the velocity and acceleration of point A at this instant.

Fig. P15.234 and P15.235