A servomotor at joint A rotates arm AB about its axis through an angle , and another servomotor at joint B controls the angle 0 of arm BC relative to arm AB. When = 0, 52 Di arm BC lies in the vertical plane. Consider a situation where is constant at 2 rad/s, while = 4 rad/s and = 12 rad/s. Concurrently with these rotations, the entire assembly is rotating about the vertical axis at the constant rate = 8 rad/s. Determine the angular velocity and angular acceleration of link BC if = 0 and 9 = 30 at this instant.