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The collar C is moving downward with an acceleration of 1 m/s². At the instant illustrated shown, it has a speed of 2 m/s that gives links CB and AB an angular velocity ωAB = ωCB = 10 rad/s. Find out the angular accelerations of CB and AB at this instant.

Hints:

a) You are asked to determine aAB and aCB

b) aB = aC + aB/C)t + aB/C)n

c) aB/C)t = raCB

d) aB/C)n = rωCB2

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