Arm BDE of the industrial robot is activated by applying the torque of M = 50 N • m to l...

Arm BDE of the industrial robot is activated by applying the torque of M = 50 N • m to link CD. Determine the reactions at pins B and D when the links are in the position shown and have an angular velocity of 2 rad/s. Arm BDE has a mass of 10 kg with center of mass at G₁. The container held in its grip at E has a mass of 12 kg with center of mass at G₂. Neglect the mass of links AB and CD.