The human leg can be crudely approximated as two rigid bars (the femur and the tibia) connected with a pin joint. At the instant shown the veolcity and acceleration of the ankle is zero. During a jump, the velocity of the ankle A is zero, the tibia AK has an angular velocity of 1.5 rad/s counterclockwise and an angular acceleration of 1 rad/s2 counterclockwise. Determine the relative angular velocity and angular acceleration of the femur KH with respect to AK so that the velocity and acceleration of H are both straight up at the instant shown.

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