At the instant shown, the robotic arm ABC is being rotated simultaneously at the constant rate 1 = 0.15rad/s about the y axis, and at

At the instant shown, the robotic arm ABC is being rotated simultaneously at the constant rate ω1 = 0.15rad/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.

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