For the robot of Prob. 7/16, determine the angular velocity ω and angular acceleration α...

For the robot of Prob. 7/16, determine the angular velocity ω and angular acceleration α of the jaws A if θ = 60° and β = 30°, both constant, and if ω₁ = 2 rad/s, ω₂ = ω₃ = ω₄ = 0, and ω₅ = 0.8 rad/s, all constant