$*16-140.$ At the instant shown, the robotic arm $AB$ is rotating counterclockwise at $=5ra\frac{d}{s}$ and has an angular acceleration $=2ra\frac{d}{s^2}.$ Simultaneously, the grip $BC$ is rotating counterclockwise at ${}^{\text{'}}=6ra\frac{d}{s}$ and ${}^{\text{'}}=2ra\frac{d}{s^2},$ both measured relative to a fixed reference. Determine the velocity and acceleration of the object held at the grip $C.$

Prob. $16-140$