If the slotted arm AB rotates counterclockwise with a constant angular velocity of $2($rad$)/($s$),$ determine the magnitude of the force exerted on the $2$ kg peg P by bar AB when theta $=30.$ The peg is constrained to move in the slots of the fixed vertical bar CD and rotating bar AB$.$ Link AB is smooth but CD has coefficients of friction of $0\mathrm{.}3$ and $0\mathrm{.}2.$

Determine the Magnitude of force exerted by AB$.$ Solution lies in $(79\mathrm{.}8,91\mathrm{.}3)$

Determine the Magnitude of force exerted by CD$.$ Solution lies in $(34\mathrm{.}2,46\mathrm{.}67)$