Homework H$\mathrm{.}2.$D

Given: Roller D of the mechanism shown is moving downward along a straight vertical surface with a constant speed of $v_D.$ At the instant shown, link AB is vertical.

Find: For this position:

$($a$)$ Determine the angular velocities of links AB and BD $.$ Write your answers as vectors.

$($b$)$ Determine the angular accelerations of links AB and BD $.$ Write your answers as vectors.

Use the following parameters in your analysis: $=53\mathrm{.}13,L=2m$ and $v_D=15\frac{m}{s}.$