A mechanism for pushing small boxes from an assembly line onto a conveyor belt is shown

in Fig. $20$ with arm OD and crank CB in their vertical positions. The crank revolves

clockwise at a constant rate of $1$ revolution every $2$ seconds. For the position shown,

determine:

$($i$)$ The angular velocity of links AB and ED$,$ and arm OD$.$

$($ii$)$ The angular acceleration of links AB and ED$,$ and arm OD$.$

$($iii$)$ The velocity and acceleration at which the box is being shoved horizontally onto the

conveyor belt.