The remote manipulator system (RMS) shown is used to deploy payloads from the cargo bay of space shuttles. At the instant shown, the whole RMS is rotating at the constant rate ω1 = 0.03 rad/s about the axis AB. At the same time, portion BCD rotates as a rigid body at the constant rate ω2 = dβ/dt = 0.04 rad/s about an axis through B parallel to the X axis. Knowing that β = 30°, determine (a) the angular acceleration of BCD, (b) the velocity of D, (c) the acceleration of D.

2.5 m 6.5 m 6.5 m CO