The 4-lb uniform slender rod AB, the 8-lb uniform slender rod BF, and the 4-lb uniform thi...

The 4-lb uniform slender rod AB, the 8-lb uniform slender rod BF, and the 4-lb uniform thin sleeve CE are connected as shown and move without friction in a vertical plane. The motion of the linkage is controlled by the couple M applied to rod AB. Knowing that at the instant shown the angular velocity of rod AB is 15 rad/s and the magnitude of the couple M is 5 lb · ft, determine (a) the angular acceleration of rod AB, (b) the reaction at point D.

Fig. P16.128