In manipulating the dumbbell, the jaws of the robotic device have an angular velocity ωp...

In manipulating the dumbbell, the jaws of the robotic device have an angular velocity ω_p = 2 rad/s about the axis OG with γ fixed at 60°. The entire assembly rotates about the vertical Z-axis at the constant rate Ω = 0.8 rad/s. Determine the angular velocity ω and angular acceleration α of the dumbbell. Express the results in terms of the given orientation of axes x-y-z, where the y-axis is parallel to the Y-axis.