$(20$ points$)$ The angular velocity and angular acceleration of the top gear are $9\mathrm{.}5ra\frac{d}{sec}$ and $1\mathrm{.}5ra\frac{d}{se{c}^2}$ shown at an instance in time. At this instant, determine the angular velocity, angular acceleration, velocity, tangential acceleration, and normal acceleration at points a$,$ b$,$ and $c$ on the lower wheel. $($You will have $15$ total answers.$)$