The motion of peg P is constrained by the lemniscate curved slot in OB and by the slotted arm OA. If OA rotates counterclockwise with a constant angular velocity of θ̇ = 3 rad/s, determine the magnitudes of the velocity and acceleration of peg P at θ = 30°.

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0 P ²2= (4 cos 20)m² B A