Rod AB is attached to a disk and a collar by ball and-socket joints. If the disk is rotating with an angular acceleration , and

Rod AB is attached to a disk and a collar by ball and-socket joints. If the disk is rotating with an angular acceleration α, and at the instant shown has an angular velocity ω, determine the velocity and acceleration of the collar at A at the instant shown.

Given: @= 2 a = 4 rad S rad 2 S r = 1 ft b = 3 ft