The assembly consists of a rod AB of mass m_AB which is connected to link OA and the collar at B by ball-and-socket joints. When θ = 0 and y = y₁, the system is at rest, the spring is unstretched, and a couple moment M, is applied to the link at O. Determine the angular velocity of the link at the instant θ = 90°. Neglect the mass of the link.

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Units Used: KN = 10³ N Given: MAB = 4 kg M = 7 Nm a = 200 mm y1 = 600 mm k = 2 KN m