Rod AB is attached to a disk and a collar by ball-and-socket joints. If the disk is rotating at a constant angular velocity , determine

Rod AB is attached to a disk and a collar by ball-and-socket joints. If the disk is rotating at a constant angular velocity ω, determine the velocity and acceleration of the collar at A at the instant shown. Assume the angular velocity is directed perpendicular to the rod.

Given: @ = 2 rad S r = 1 ft b = 3 ft