The position of the stylus tip A is controlled by the robot shown. In the position shown the stylus moves at a constant speed u = 180mm/s relative to the solenoid BC. At the same time, arm CD rotates at the constant rate ω2 = 1.6rad/s with respect to component DEG. Knowing that the entire robot rotates about the X axis at the constant rate ω1 = 1.2rad/s, determine (a) the velocity of A, (b) the acceleration of A.

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