The coordinate system shown is fixed relative to the ship B. The ship uses its radar to me...

The coordinate system shown is fixed relative to the ship B. The ship uses its radar to measure the position of a stationary buoy A and determines it to be 400i + 200j (m). The ship also measures the velocity of the buoy relative to its body-fixed coordinate system and determines it to be 2i – 8j (m/s). What are the ship’s velocity and angular velocity relative to the earth? (Assume that the ship’s velocity is in the direction of they axis.)