Problem #$3$:

The figure below shows some kind of contraption. The rod $AB$ moves horizontally an amount $q_3$ and the rod CE moves vertically an amount $q_2.$ A roller at point $D$ allows relative vertical motion between the piston $($ P $)$ and the end of rodR $($point $D).$

Determine the velocity of point $D$ in terms of an independent combination of $q_1^{},q_2^{},$ and $q_3^{}.$

Please get it into any one of those forms in the boxed answers

Using V$2$ points, V$1$ Points, Golden Rule, etc.