The robot shown has four degrees of rotational freedom, namely, arm OA rotates about the x...

The robot shown has four degrees of rotational freedom, namely, arm OA rotates about the x and z axes, arm AB rotates about the x axis, and CB rotates about the y axis. At the instant shown, ω2 = 1.5 rad/s, ώ2 = 1 rad/s2, ω3 = 3 rad/s, ώ3 = 0.5 rad/s2, ω4 = 6 rad/s, ώ4 = 3 rad/s2, and ω1, = ώ2 = 0. If the robot does not translate, i.e., v = a = 0, determine the velocity and acceleration of point C at this instant.