At the instant shown, crack cb ha a constant angular velocity of $2$ rad$/$s

VI$.$ At the instant shown, crank CB has a constant angular velocity of $2$rad$//$s counterclockwise and is horizontal. When CB is in this position the link OA is vertical. For this instant, determine,

a$)$ The angular velocities of links OA and AB

b$)$ The angular accelerations of OA and AB$.$

Neglect the mass of the links and any friction at the pins.

FIGURE $6,$

Page $7$ of $7$

National Examination $04-$BS$-3/2019$ DECEMBER