Problem

Link AB of the robot’s arm is rotating with a constant counterclockwise angular velocity o...

Link AB of the robot’s arm is rotating with a constant counterclockwise angular velocity of 2 rad/s, and link BC is rotating with a constant clockwise angular velocity of 3 rad/s. Link CD is rotating at 4 rad/s in the counterclockwise direction and has a counterclockwise angular acceleration of 6 rad/s2. What is the acceleration of point D?

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