During the instant shown the frame of the X-ray camera is rotating about the vertical axis...

During the instant shown the frame of the X-ray camera is rotating about the vertical axis at ωz = 5 rad/s and ώz = 2 rad/s2. Relative to the frame the arm is rotating at ωrel = 2 rad/s and ώrel = 1 rad/s2. Determine the velocity and acceleration of the center of the camera C at this instant.