The pin at B is attached to link AB which rotates at an angular velocity of 4 rad/s clockwise and an angular acceleration of 10 rad/s2 counterclockwise. The pin is free to slide in the slot in link CD. (a) Find the angular velocity of link CD and the velocity of the pin relative to the slot in link CD. (b) Find the angular acceleration of link CD and the acceleration of the pin relative to the slot in link CD.