The equation r(t) = (3 sin t) i + (3 cos t) j + (t) k is the position of a particle in space at time t. Find the particle's velocity and acceleration vectors. Then write the particle's velocity at t= , as a product of its speed and direction. The velocity vector is v(t) = it + The acceleration vector is a(t) = The velocity vector at t= = NIA written as a product of the speed and direction is Dit (Type exact answers, using radicals as needed.)