Problem $1$:

For the system shown to the right each link $(l_2=0\mathrm{.}50m,l_3=0\mathrm{.}25m)$ spins at constant angular velocity with

${}_2^{}={}_2=12ra\frac{d}{s},{}_3^{}={}_3=-10ra\frac{d}{s}.$

When ${}_2=30$ and ${}_3=75$ find the velocity and acceleration of $B.$ Express these in terms of $(hat(z),$hat$()),$ that is$,$ directions fixed in the ground.