Statement Problem:

The image provided is a $2$D sketch of a scotch and yoke, this mechanism is used on a dual$-$sided water pump. A motor rotates the circular disk mounted on point $\backslash ($ O $\backslash ).$ The disk has a pin attached at point A $,$ as the disk rotates, the pin attached begins to act on the slider. While the pin slides up and down on the slider, the rods attached begin to move accordingly on the X $-$axis $($Moving left and right$).$

If the disk rotates at a constant angular velocity of $30$ RPM in a counterclockwise direction, please determine the:

A$)$ The velocity of the rod at Point B$.$

B$)$ The acceleration of the rod at Point B$.$

C$)$ The contact force between pin A and the slider.