The collars are pin connected at B and are free to move along rod OA and the curved guide...

The collars are pin connected at B and are free to move along rod OA and the curved guide OC having the shape of a cardioid, r = [0.2(1 + cos θ)]m. Atθ = 30°, the angular velocity of OA is  = 3 rad/s. Determine the magnitude of the velocity of the collars at this point.