Question $1$:

In the system shown in Figure $1,$ link OA has a constant angular velocity of $15ra\frac{d}{s}$ anticlockwise. For the position shown, determine:

a$)$ The angular velocity of rod $AB.$

b$)$ The angular velocity of rod BC

$[25$ Marks$]$

c$)$ The angular acceleration of rod $AB.$

$[25$ Marks$]$

d$)$ The angular acceleration of rod $BC=$

$[25$ Marks$]$

$[25$ Marks$]$