The motion of peg P is constrained by the lemniscate curved slot in OB and by the slotte...

The motion of peg P is constrained by the lemniscate curved slot in OB and by the slotted arm OA. If OA rotates counterclockwise with a constant angular velocity of = 3 rad/s, determine the magnitudes of the velocity and acceleration of peg P at θ = 30°.