### Rotational Kinematics

The

*ABCD*rod shown rotates on two spherical joints in

*A*and

*D*, in a clockwise direction when viewed from the point of view

*A*. The angular speed of the bar at the instant considered is equal to 12 rad/s, and decreases at the rate of 3 rad/s

^{2}. Find:

a) The angular velocity, in rad/s;

b) The angular acceleration, in rad/s

^{2};

c) The velocity of point

*B*, in em m/s;

d) The acceleration of point

*B*, in m/s

^{2}.